three-stdlib 2.35.3 → 2.35.4

package/animation/MMDPhysics.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"MMDPhysics.cjs","sources":["../../src/animation/MMDPhysics.js"],"sourcesContent":["import {\n  Bone,\n  BoxGeometry,\n  Color,\n  Euler,\n  Matrix4,\n  Mesh,\n  MeshBasicMaterial,\n  Object3D,\n  Quaternion,\n  SphereGeometry,\n  Vector3,\n} from 'three'\nimport { CapsuleGeometry } from '../_polyfill/CapsuleGeometry'\n\n/**\n * Dependencies\n *  - Ammo.js https://github.com/kripken/ammo.js\n *\n * MMDPhysics calculates physics with Ammo(Bullet based JavaScript Physics engine)\n * for MMD model loaded by MMDLoader.\n *\n * TODO\n *  - Physics in Worker\n */\n\n/* global Ammo */\n\nclass MMDPhysics {\n  /**\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Array<Object>} rigidBodyParams\n   * @param {Array<Object>} (optional) constraintParams\n   * @param {Object} params - (optional)\n   * @param {Number} params.unitStep - Default is 1 / 65.\n   * @param {Integer} params.maxStepNum - Default is 3.\n   * @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )\n   */\n  constructor(mesh, rigidBodyParams, constraintParams = [], params = {}) {\n    if (typeof Ammo === 'undefined') {\n      throw new Error('THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js')\n    }\n\n    this.manager = new ResourceManager()\n\n    this.mesh = mesh\n\n    /*\n     * I don't know why but 1/60 unitStep easily breaks models\n     * so I set it 1/65 so far.\n     * Don't set too small unitStep because\n     * the smaller unitStep can make the performance worse.\n     */\n    this.unitStep = params.unitStep !== undefined ? params.unitStep : 1 / 65\n    this.maxStepNum = params.maxStepNum !== undefined ? params.maxStepNum : 3\n    this.gravity = new Vector3(0, -9.8 * 10, 0)\n\n    if (params.gravity !== undefined) this.gravity.copy(params.gravity)\n\n    this.world = params.world !== undefined ? params.world : null // experimental\n\n    this.bodies = []\n    this.constraints = []\n\n    this._init(mesh, rigidBodyParams, constraintParams)\n  }\n\n  /**\n   * Advances Physics calculation and updates bones.\n   *\n   * @param {Number} delta - time in second\n   * @return {MMDPhysics}\n   */\n  update(delta) {\n    const manager = this.manager\n    const mesh = this.mesh\n\n    // rigid bodies and constrains are for\n    // mesh's world scale (1, 1, 1).\n    // Convert to (1, 1, 1) if it isn't.\n\n    let isNonDefaultScale = false\n\n    const position = manager.allocThreeVector3()\n    const quaternion = manager.allocThreeQuaternion()\n    const scale = manager.allocThreeVector3()\n\n    mesh.matrixWorld.decompose(position, quaternion, scale)\n\n    if (scale.x !== 1 || scale.y !== 1 || scale.z !== 1) {\n      isNonDefaultScale = true\n    }\n\n    let parent\n\n    if (isNonDefaultScale) {\n      parent = mesh.parent\n\n      if (parent !== null) mesh.parent = null\n\n      scale.copy(this.mesh.scale)\n\n      mesh.scale.set(1, 1, 1)\n      mesh.updateMatrixWorld(true)\n    }\n\n    // calculate physics and update bones\n\n    this._updateRigidBodies()\n    this._stepSimulation(delta)\n    this._updateBones()\n\n    // restore mesh if converted above\n\n    if (isNonDefaultScale) {\n      if (parent !== null) mesh.parent = parent\n\n      mesh.scale.copy(scale)\n    }\n\n    manager.freeThreeVector3(scale)\n    manager.freeThreeQuaternion(quaternion)\n    manager.freeThreeVector3(position)\n\n    return this\n  }\n\n  /**\n   * Resets rigid bodies transorm to current bone's.\n   *\n   * @return {MMDPhysics}\n   */\n  reset() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].reset()\n    }\n\n    return this\n  }\n\n  /**\n   * Warm ups Rigid bodies. Calculates cycles steps.\n   *\n   * @param {Integer} cycles\n   * @return {MMDPhysics}\n   */\n  warmup(cycles) {\n    for (let i = 0; i < cycles; i++) {\n      this.update(1 / 60)\n    }\n\n    return this\n  }\n\n  /**\n   * Sets gravity.\n   *\n   * @param {Vector3} gravity\n   * @return {MMDPhysicsHelper}\n   */\n  setGravity(gravity) {\n    this.world.setGravity(new Ammo.btVector3(gravity.x, gravity.y, gravity.z))\n    this.gravity.copy(gravity)\n\n    return this\n  }\n\n  /**\n   * Creates MMDPhysicsHelper\n   *\n   * @return {MMDPhysicsHelper}\n   */\n  createHelper() {\n    return new MMDPhysicsHelper(this.mesh, this)\n  }\n\n  // private methods\n\n  _init(mesh, rigidBodyParams, constraintParams) {\n    const manager = this.manager\n\n    // rigid body/constraint parameters are for\n    // mesh's default world transform as position(0, 0, 0),\n    // quaternion(0, 0, 0, 1) and scale(0, 0, 0)\n\n    const parent = mesh.parent\n\n    if (parent !== null) mesh.parent = null\n\n    const currentPosition = manager.allocThreeVector3()\n    const currentQuaternion = manager.allocThreeQuaternion()\n    const currentScale = manager.allocThreeVector3()\n\n    currentPosition.copy(mesh.position)\n    currentQuaternion.copy(mesh.quaternion)\n    currentScale.copy(mesh.scale)\n\n    mesh.position.set(0, 0, 0)\n    mesh.quaternion.set(0, 0, 0, 1)\n    mesh.scale.set(1, 1, 1)\n\n    mesh.updateMatrixWorld(true)\n\n    if (this.world === null) {\n      this.world = this._createWorld()\n      this.setGravity(this.gravity)\n    }\n\n    this._initRigidBodies(rigidBodyParams)\n    this._initConstraints(constraintParams)\n\n    if (parent !== null) mesh.parent = parent\n\n    mesh.position.copy(currentPosition)\n    mesh.quaternion.copy(currentQuaternion)\n    mesh.scale.copy(currentScale)\n\n    mesh.updateMatrixWorld(true)\n\n    this.reset()\n\n    manager.freeThreeVector3(currentPosition)\n    manager.freeThreeQuaternion(currentQuaternion)\n    manager.freeThreeVector3(currentScale)\n  }\n\n  _createWorld() {\n    const config = new Ammo.btDefaultCollisionConfiguration()\n    const dispatcher = new Ammo.btCollisionDispatcher(config)\n    const cache = new Ammo.btDbvtBroadphase()\n    const solver = new Ammo.btSequentialImpulseConstraintSolver()\n    const world = new Ammo.btDiscreteDynamicsWorld(dispatcher, cache, solver, config)\n    return world\n  }\n\n  _initRigidBodies(rigidBodies) {\n    for (let i = 0, il = rigidBodies.length; i < il; i++) {\n      this.bodies.push(new RigidBody(this.mesh, this.world, rigidBodies[i], this.manager))\n    }\n  }\n\n  _initConstraints(constraints) {\n    for (let i = 0, il = constraints.length; i < il; i++) {\n      const params = constraints[i]\n      const bodyA = this.bodies[params.rigidBodyIndex1]\n      const bodyB = this.bodies[params.rigidBodyIndex2]\n      this.constraints.push(new Constraint(this.mesh, this.world, bodyA, bodyB, params, this.manager))\n    }\n  }\n\n  _stepSimulation(delta) {\n    const unitStep = this.unitStep\n    let stepTime = delta\n    let maxStepNum = ((delta / unitStep) | 0) + 1\n\n    if (stepTime < unitStep) {\n      stepTime = unitStep\n      maxStepNum = 1\n    }\n\n    if (maxStepNum > this.maxStepNum) {\n      maxStepNum = this.maxStepNum\n    }\n\n    this.world.stepSimulation(stepTime, maxStepNum, unitStep)\n  }\n\n  _updateRigidBodies() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].updateFromBone()\n    }\n  }\n\n  _updateBones() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].updateBone()\n    }\n  }\n}\n\n/**\n * This manager's responsibilies are\n *\n * 1. manage Ammo.js and Three.js object resources and\n *    improve the performance and the memory consumption by\n *    reusing objects.\n *\n * 2. provide simple Ammo object operations.\n */\nclass ResourceManager {\n  constructor() {\n    // for Three.js\n    this.threeVector3s = []\n    this.threeMatrix4s = []\n    this.threeQuaternions = []\n    this.threeEulers = []\n\n    // for Ammo.js\n    this.transforms = []\n    this.quaternions = []\n    this.vector3s = []\n  }\n\n  allocThreeVector3() {\n    return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new Vector3()\n  }\n\n  freeThreeVector3(v) {\n    this.threeVector3s.push(v)\n  }\n\n  allocThreeMatrix4() {\n    return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new Matrix4()\n  }\n\n  freeThreeMatrix4(m) {\n    this.threeMatrix4s.push(m)\n  }\n\n  allocThreeQuaternion() {\n    return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new Quaternion()\n  }\n\n  freeThreeQuaternion(q) {\n    this.threeQuaternions.push(q)\n  }\n\n  allocThreeEuler() {\n    return this.threeEulers.length > 0 ? this.threeEulers.pop() : new Euler()\n  }\n\n  freeThreeEuler(e) {\n    this.threeEulers.push(e)\n  }\n\n  allocTransform() {\n    return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform()\n  }\n\n  freeTransform(t) {\n    this.transforms.push(t)\n  }\n\n  allocQuaternion() {\n    return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion()\n  }\n\n  freeQuaternion(q) {\n    this.quaternions.push(q)\n  }\n\n  allocVector3() {\n    return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3()\n  }\n\n  freeVector3(v) {\n    this.vector3s.push(v)\n  }\n\n  setIdentity(t) {\n    t.setIdentity()\n  }\n\n  getBasis(t) {\n    var q = this.allocQuaternion()\n    t.getBasis().getRotation(q)\n    return q\n  }\n\n  getBasisAsMatrix3(t) {\n    var q = this.getBasis(t)\n    var m = this.quaternionToMatrix3(q)\n    this.freeQuaternion(q)\n    return m\n  }\n\n  getOrigin(t) {\n    return t.getOrigin()\n  }\n\n  setOrigin(t, v) {\n    t.getOrigin().setValue(v.x(), v.y(), v.z())\n  }\n\n  copyOrigin(t1, t2) {\n    var o = t2.getOrigin()\n    this.setOrigin(t1, o)\n  }\n\n  setBasis(t, q) {\n    t.setRotation(q)\n  }\n\n  setBasisFromMatrix3(t, m) {\n    var q = this.matrix3ToQuaternion(m)\n    this.setBasis(t, q)\n    this.freeQuaternion(q)\n  }\n\n  setOriginFromArray3(t, a) {\n    t.getOrigin().setValue(a[0], a[1], a[2])\n  }\n\n  setOriginFromThreeVector3(t, v) {\n    t.getOrigin().setValue(v.x, v.y, v.z)\n  }\n\n  setBasisFromArray3(t, a) {\n    var thQ = this.allocThreeQuaternion()\n    var thE = this.allocThreeEuler()\n    thE.set(a[0], a[1], a[2])\n    this.setBasisFromThreeQuaternion(t, thQ.setFromEuler(thE))\n\n    this.freeThreeEuler(thE)\n    this.freeThreeQuaternion(thQ)\n  }\n\n  setBasisFromThreeQuaternion(t, a) {\n    var q = this.allocQuaternion()\n\n    q.setX(a.x)\n    q.setY(a.y)\n    q.setZ(a.z)\n    q.setW(a.w)\n    this.setBasis(t, q)\n\n    this.freeQuaternion(q)\n  }\n\n  multiplyTransforms(t1, t2) {\n    var t = this.allocTransform()\n    this.setIdentity(t)\n\n    var m1 = this.getBasisAsMatrix3(t1)\n    var m2 = this.getBasisAsMatrix3(t2)\n\n    var o1 = this.getOrigin(t1)\n    var o2 = this.getOrigin(t2)\n\n    var v1 = this.multiplyMatrix3ByVector3(m1, o2)\n    var v2 = this.addVector3(v1, o1)\n    this.setOrigin(t, v2)\n\n    var m3 = this.multiplyMatrices3(m1, m2)\n    this.setBasisFromMatrix3(t, m3)\n\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return t\n  }\n\n  inverseTransform(t) {\n    var t2 = this.allocTransform()\n\n    var m1 = this.getBasisAsMatrix3(t)\n    var o = this.getOrigin(t)\n\n    var m2 = this.transposeMatrix3(m1)\n    var v1 = this.negativeVector3(o)\n    var v2 = this.multiplyMatrix3ByVector3(m2, v1)\n\n    this.setOrigin(t2, v2)\n    this.setBasisFromMatrix3(t2, m2)\n\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return t2\n  }\n\n  multiplyMatrices3(m1, m2) {\n    var m3 = []\n\n    var v10 = this.rowOfMatrix3(m1, 0)\n    var v11 = this.rowOfMatrix3(m1, 1)\n    var v12 = this.rowOfMatrix3(m1, 2)\n\n    var v20 = this.columnOfMatrix3(m2, 0)\n    var v21 = this.columnOfMatrix3(m2, 1)\n    var v22 = this.columnOfMatrix3(m2, 2)\n\n    m3[0] = this.dotVectors3(v10, v20)\n    m3[1] = this.dotVectors3(v10, v21)\n    m3[2] = this.dotVectors3(v10, v22)\n    m3[3] = this.dotVectors3(v11, v20)\n    m3[4] = this.dotVectors3(v11, v21)\n    m3[5] = this.dotVectors3(v11, v22)\n    m3[6] = this.dotVectors3(v12, v20)\n    m3[7] = this.dotVectors3(v12, v21)\n    m3[8] = this.dotVectors3(v12, v22)\n\n    this.freeVector3(v10)\n    this.freeVector3(v11)\n    this.freeVector3(v12)\n    this.freeVector3(v20)\n    this.freeVector3(v21)\n    this.freeVector3(v22)\n\n    return m3\n  }\n\n  addVector3(v1, v2) {\n    var v = this.allocVector3()\n    v.setValue(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z())\n    return v\n  }\n\n  dotVectors3(v1, v2) {\n    return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z()\n  }\n\n  rowOfMatrix3(m, i) {\n    var v = this.allocVector3()\n    v.setValue(m[i * 3 + 0], m[i * 3 + 1], m[i * 3 + 2])\n    return v\n  }\n\n  columnOfMatrix3(m, i) {\n    var v = this.allocVector3()\n    v.setValue(m[i + 0], m[i + 3], m[i + 6])\n    return v\n  }\n\n  negativeVector3(v) {\n    var v2 = this.allocVector3()\n    v2.setValue(-v.x(), -v.y(), -v.z())\n    return v2\n  }\n\n  multiplyMatrix3ByVector3(m, v) {\n    var v4 = this.allocVector3()\n\n    var v0 = this.rowOfMatrix3(m, 0)\n    var v1 = this.rowOfMatrix3(m, 1)\n    var v2 = this.rowOfMatrix3(m, 2)\n    var x = this.dotVectors3(v0, v)\n    var y = this.dotVectors3(v1, v)\n    var z = this.dotVectors3(v2, v)\n\n    v4.setValue(x, y, z)\n\n    this.freeVector3(v0)\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return v4\n  }\n\n  transposeMatrix3(m) {\n    var m2 = []\n    m2[0] = m[0]\n    m2[1] = m[3]\n    m2[2] = m[6]\n    m2[3] = m[1]\n    m2[4] = m[4]\n    m2[5] = m[7]\n    m2[6] = m[2]\n    m2[7] = m[5]\n    m2[8] = m[8]\n    return m2\n  }\n\n  quaternionToMatrix3(q) {\n    var m = []\n\n    var x = q.x()\n    var y = q.y()\n    var z = q.z()\n    var w = q.w()\n\n    var xx = x * x\n    var yy = y * y\n    var zz = z * z\n\n    var xy = x * y\n    var yz = y * z\n    var zx = z * x\n\n    var xw = x * w\n    var yw = y * w\n    var zw = z * w\n\n    m[0] = 1 - 2 * (yy + zz)\n    m[1] = 2 * (xy - zw)\n    m[2] = 2 * (zx + yw)\n    m[3] = 2 * (xy + zw)\n    m[4] = 1 - 2 * (zz + xx)\n    m[5] = 2 * (yz - xw)\n    m[6] = 2 * (zx - yw)\n    m[7] = 2 * (yz + xw)\n    m[8] = 1 - 2 * (xx + yy)\n\n    return m\n  }\n\n  matrix3ToQuaternion(m) {\n    var t = m[0] + m[4] + m[8]\n    var s, x, y, z, w\n\n    if (t > 0) {\n      s = Math.sqrt(t + 1.0) * 2\n      w = 0.25 * s\n      x = (m[7] - m[5]) / s\n      y = (m[2] - m[6]) / s\n      z = (m[3] - m[1]) / s\n    } else if (m[0] > m[4] && m[0] > m[8]) {\n      s = Math.sqrt(1.0 + m[0] - m[4] - m[8]) * 2\n      w = (m[7] - m[5]) / s\n      x = 0.25 * s\n      y = (m[1] + m[3]) / s\n      z = (m[2] + m[6]) / s\n    } else if (m[4] > m[8]) {\n      s = Math.sqrt(1.0 + m[4] - m[0] - m[8]) * 2\n      w = (m[2] - m[6]) / s\n      x = (m[1] + m[3]) / s\n      y = 0.25 * s\n      z = (m[5] + m[7]) / s\n    } else {\n      s = Math.sqrt(1.0 + m[8] - m[0] - m[4]) * 2\n      w = (m[3] - m[1]) / s\n      x = (m[2] + m[6]) / s\n      y = (m[5] + m[7]) / s\n      z = 0.25 * s\n    }\n\n    var q = this.allocQuaternion()\n    q.setX(x)\n    q.setY(y)\n    q.setZ(z)\n    q.setW(w)\n    return q\n  }\n}\n\n/**\n * @param {THREE.SkinnedMesh} mesh\n * @param {Ammo.btDiscreteDynamicsWorld} world\n * @param {Object} params\n * @param {ResourceManager} manager\n */\nclass RigidBody {\n  constructor(mesh, world, params, manager) {\n    this.mesh = mesh\n    this.world = world\n    this.params = params\n    this.manager = manager\n\n    this.body = null\n    this.bone = null\n    this.boneOffsetForm = null\n    this.boneOffsetFormInverse = null\n\n    this._init()\n  }\n\n  /**\n   * Resets rigid body transform to the current bone's.\n   *\n   * @return {RigidBody}\n   */\n  reset() {\n    this._setTransformFromBone()\n    return this\n  }\n\n  /**\n   * Updates rigid body's transform from the current bone.\n   *\n   * @return {RidigBody}\n   */\n  updateFromBone() {\n    if (this.params.boneIndex !== -1 && this.params.type === 0) {\n      this._setTransformFromBone()\n    }\n\n    return this\n  }\n\n  /**\n   * Updates bone from the current ridid body's transform.\n   *\n   * @return {RidigBody}\n   */\n  updateBone() {\n    if (this.params.type === 0 || this.params.boneIndex === -1) {\n      return this\n    }\n\n    this._updateBoneRotation()\n\n    if (this.params.type === 1) {\n      this._updateBonePosition()\n    }\n\n    this.bone.updateMatrixWorld(true)\n\n    if (this.params.type === 2) {\n      this._setPositionFromBone()\n    }\n\n    return this\n  }\n\n  // private methods\n\n  _init() {\n    function generateShape(p) {\n      switch (p.shapeType) {\n        case 0:\n          return new Ammo.btSphereShape(p.width)\n\n        case 1:\n          return new Ammo.btBoxShape(new Ammo.btVector3(p.width, p.height, p.depth))\n\n        case 2:\n          return new Ammo.btCapsuleShape(p.width, p.height)\n\n        default:\n          throw new Error('unknown shape type ' + p.shapeType)\n      }\n    }\n\n    const manager = this.manager\n    const params = this.params\n    const bones = this.mesh.skeleton.bones\n    const bone = params.boneIndex === -1 ? new Bone() : bones[params.boneIndex]\n\n    const shape = generateShape(params)\n    const weight = params.type === 0 ? 0 : params.weight\n    const localInertia = manager.allocVector3()\n    localInertia.setValue(0, 0, 0)\n\n    if (weight !== 0) {\n      shape.calculateLocalInertia(weight, localInertia)\n    }\n\n    const boneOffsetForm = manager.allocTransform()\n    manager.setIdentity(boneOffsetForm)\n    manager.setOriginFromArray3(boneOffsetForm, params.position)\n    manager.setBasisFromArray3(boneOffsetForm, params.rotation)\n\n    const vector = manager.allocThreeVector3()\n    const boneForm = manager.allocTransform()\n    manager.setIdentity(boneForm)\n    manager.setOriginFromThreeVector3(boneForm, bone.getWorldPosition(vector))\n\n    const form = manager.multiplyTransforms(boneForm, boneOffsetForm)\n    const state = new Ammo.btDefaultMotionState(form)\n\n    const info = new Ammo.btRigidBodyConstructionInfo(weight, state, shape, localInertia)\n    info.set_m_friction(params.friction)\n    info.set_m_restitution(params.restitution)\n\n    const body = new Ammo.btRigidBody(info)\n\n    if (params.type === 0) {\n      body.setCollisionFlags(body.getCollisionFlags() | 2)\n\n      /*\n       * It'd be better to comment out this line though in general I should call this method\n       * because I'm not sure why but physics will be more like MMD's\n       * if I comment out.\n       */\n      body.setActivationState(4)\n    }\n\n    body.setDamping(params.positionDamping, params.rotationDamping)\n    body.setSleepingThresholds(0, 0)\n\n    this.world.addRigidBody(body, 1 << params.groupIndex, params.groupTarget)\n\n    this.body = body\n    this.bone = bone\n    this.boneOffsetForm = boneOffsetForm\n    this.boneOffsetFormInverse = manager.inverseTransform(boneOffsetForm)\n\n    manager.freeVector3(localInertia)\n    manager.freeTransform(form)\n    manager.freeTransform(boneForm)\n    manager.freeThreeVector3(vector)\n  }\n\n  _getBoneTransform() {\n    const manager = this.manager\n    const p = manager.allocThreeVector3()\n    const q = manager.allocThreeQuaternion()\n    const s = manager.allocThreeVector3()\n\n    this.bone.matrixWorld.decompose(p, q, s)\n\n    const tr = manager.allocTransform()\n    manager.setOriginFromThreeVector3(tr, p)\n    manager.setBasisFromThreeQuaternion(tr, q)\n\n    const form = manager.multiplyTransforms(tr, this.boneOffsetForm)\n\n    manager.freeTransform(tr)\n    manager.freeThreeVector3(s)\n    manager.freeThreeQuaternion(q)\n    manager.freeThreeVector3(p)\n\n    return form\n  }\n\n  _getWorldTransformForBone() {\n    const manager = this.manager\n    const tr = this.body.getCenterOfMassTransform()\n    return manager.multiplyTransforms(tr, this.boneOffsetFormInverse)\n  }\n\n  _setTransformFromBone() {\n    const manager = this.manager\n    const form = this._getBoneTransform()\n\n    // TODO: check the most appropriate way to set\n    //this.body.setWorldTransform( form );\n    this.body.setCenterOfMassTransform(form)\n    this.body.getMotionState().setWorldTransform(form)\n\n    manager.freeTransform(form)\n  }\n\n  _setPositionFromBone() {\n    const manager = this.manager\n    const form = this._getBoneTransform()\n\n    const tr = manager.allocTransform()\n    this.body.getMotionState().getWorldTransform(tr)\n    manager.copyOrigin(tr, form)\n\n    // TODO: check the most appropriate way to set\n    //this.body.setWorldTransform( tr );\n    this.body.setCenterOfMassTransform(tr)\n    this.body.getMotionState().setWorldTransform(tr)\n\n    manager.freeTransform(tr)\n    manager.freeTransform(form)\n  }\n\n  _updateBoneRotation() {\n    const manager = this.manager\n\n    const tr = this._getWorldTransformForBone()\n    const q = manager.getBasis(tr)\n\n    const thQ = manager.allocThreeQuaternion()\n    const thQ2 = manager.allocThreeQuaternion()\n    const thQ3 = manager.allocThreeQuaternion()\n\n    thQ.set(q.x(), q.y(), q.z(), q.w())\n    thQ2.setFromRotationMatrix(this.bone.matrixWorld)\n    thQ2.conjugate()\n    thQ2.multiply(thQ)\n\n    //this.bone.quaternion.multiply( thQ2 );\n\n    thQ3.setFromRotationMatrix(this.bone.matrix)\n\n    // Renormalizing quaternion here because repeatedly transforming\n    // quaternion continuously accumulates floating point error and\n    // can end up being overflow. See #15335\n    this.bone.quaternion.copy(thQ2.multiply(thQ3).normalize())\n\n    manager.freeThreeQuaternion(thQ)\n    manager.freeThreeQuaternion(thQ2)\n    manager.freeThreeQuaternion(thQ3)\n\n    manager.freeQuaternion(q)\n    manager.freeTransform(tr)\n  }\n\n  _updateBonePosition() {\n    const manager = this.manager\n\n    const tr = this._getWorldTransformForBone()\n\n    const thV = manager.allocThreeVector3()\n\n    const o = manager.getOrigin(tr)\n    thV.set(o.x(), o.y(), o.z())\n\n    if (this.bone.parent) {\n      this.bone.parent.worldToLocal(thV)\n    }\n\n    this.bone.position.copy(thV)\n\n    manager.freeThreeVector3(thV)\n\n    manager.freeTransform(tr)\n  }\n}\n\n//\n\nclass Constraint {\n  /**\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Ammo.btDiscreteDynamicsWorld} world\n   * @param {RigidBody} bodyA\n   * @param {RigidBody} bodyB\n   * @param {Object} params\n   * @param {ResourceManager} manager\n   */\n  constructor(mesh, world, bodyA, bodyB, params, manager) {\n    this.mesh = mesh\n    this.world = world\n    this.bodyA = bodyA\n    this.bodyB = bodyB\n    this.params = params\n    this.manager = manager\n\n    this.constraint = null\n\n    this._init()\n  }\n\n  // private method\n\n  _init() {\n    const manager = this.manager\n    const params = this.params\n    const bodyA = this.bodyA\n    const bodyB = this.bodyB\n\n    const form = manager.allocTransform()\n    manager.setIdentity(form)\n    manager.setOriginFromArray3(form, params.position)\n    manager.setBasisFromArray3(form, params.rotation)\n\n    const formA = manager.allocTransform()\n    const formB = manager.allocTransform()\n\n    bodyA.body.getMotionState().getWorldTransform(formA)\n    bodyB.body.getMotionState().getWorldTransform(formB)\n\n    const formInverseA = manager.inverseTransform(formA)\n    const formInverseB = manager.inverseTransform(formB)\n\n    const formA2 = manager.multiplyTransforms(formInverseA, form)\n    const formB2 = manager.multiplyTransforms(formInverseB, form)\n\n    const constraint = new Ammo.btGeneric6DofSpringConstraint(bodyA.body, bodyB.body, formA2, formB2, true)\n\n    const lll = manager.allocVector3()\n    const lul = manager.allocVector3()\n    const all = manager.allocVector3()\n    const aul = manager.allocVector3()\n\n    lll.setValue(params.translationLimitation1[0], params.translationLimitation1[1], params.translationLimitation1[2])\n    lul.setValue(params.translationLimitation2[0], params.translationLimitation2[1], params.translationLimitation2[2])\n    all.setValue(params.rotationLimitation1[0], params.rotationLimitation1[1], params.rotationLimitation1[2])\n    aul.setValue(params.rotationLimitation2[0], params.rotationLimitation2[1], params.rotationLimitation2[2])\n\n    constraint.setLinearLowerLimit(lll)\n    constraint.setLinearUpperLimit(lul)\n    constraint.setAngularLowerLimit(all)\n    constraint.setAngularUpperLimit(aul)\n\n    for (let i = 0; i < 3; i++) {\n      if (params.springPosition[i] !== 0) {\n        constraint.enableSpring(i, true)\n        constraint.setStiffness(i, params.springPosition[i])\n      }\n    }\n\n    for (let i = 0; i < 3; i++) {\n      if (params.springRotation[i] !== 0) {\n        constraint.enableSpring(i + 3, true)\n        constraint.setStiffness(i + 3, params.springRotation[i])\n      }\n    }\n\n    /*\n     * Currently(10/31/2016) official ammo.js doesn't support\n     * btGeneric6DofSpringConstraint.setParam method.\n     * You need custom ammo.js (add the method into idl) if you wanna use.\n     * By setting this parameter, physics will be more like MMD's\n     */\n    if (constraint.setParam !== undefined) {\n      for (let i = 0; i < 6; i++) {\n        constraint.setParam(2, 0.475, i)\n      }\n    }\n\n    this.world.addConstraint(constraint, true)\n    this.constraint = constraint\n\n    manager.freeTransform(form)\n    manager.freeTransform(formA)\n    manager.freeTransform(formB)\n    manager.freeTransform(formInverseA)\n    manager.freeTransform(formInverseB)\n    manager.freeTransform(formA2)\n    manager.freeTransform(formB2)\n    manager.freeVector3(lll)\n    manager.freeVector3(lul)\n    manager.freeVector3(all)\n    manager.freeVector3(aul)\n  }\n}\n\nconst _position = new Vector3()\nconst _quaternion = new Quaternion()\nconst _scale = new Vector3()\nconst _matrixWorldInv = new Matrix4()\n\nclass MMDPhysicsHelper extends Object3D {\n  /**\n   * Visualize Rigid bodies\n   *\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Physics} physics\n   */\n  constructor(mesh, physics) {\n    super()\n\n    this.root = mesh\n    this.physics = physics\n\n    this.matrix.copy(mesh.matrixWorld)\n    this.matrixAutoUpdate = false\n\n    this.materials = []\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0xff8888),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0x88ff88),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0x8888ff),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this._init()\n  }\n\n  /**\n   * Frees the GPU-related resources allocated by this instance. Call this method whenever this instance is no longer used in your app.\n   */\n  dispose() {\n    const materials = this.materials\n    const children = this.children\n\n    for (let i = 0; i < materials.length; i++) {\n      materials[i].dispose()\n    }\n\n    for (let i = 0; i < children.length; i++) {\n      const child = children[i]\n\n      if (child.isMesh) child.geometry.dispose()\n    }\n  }\n\n  /**\n   * Updates Rigid Bodies visualization.\n   */\n  updateMatrixWorld(force) {\n    var mesh = this.root\n\n    if (this.visible) {\n      var bodies = this.physics.bodies\n\n      _matrixWorldInv\n        .copy(mesh.matrixWorld)\n        .decompose(_position, _quaternion, _scale)\n        .compose(_position, _quaternion, _scale.set(1, 1, 1))\n        .invert()\n\n      for (var i = 0, il = bodies.length; i < il; i++) {\n        var body = bodies[i].body\n        var child = this.children[i]\n\n        var tr = body.getCenterOfMassTransform()\n        var origin = tr.getOrigin()\n        var rotation = tr.getRotation()\n\n        child.position.set(origin.x(), origin.y(), origin.z()).applyMatrix4(_matrixWorldInv)\n\n        child.quaternion\n          .setFromRotationMatrix(_matrixWorldInv)\n          .multiply(_quaternion.set(rotation.x(), rotation.y(), rotation.z(), rotation.w()))\n      }\n    }\n\n    this.matrix\n      .copy(mesh.matrixWorld)\n      .decompose(_position, _quaternion, _scale)\n      .compose(_position, _quaternion, _scale.set(1, 1, 1))\n\n    super.updateMatrixWorld(force)\n  }\n\n  // private method\n\n  _init() {\n    var bodies = this.physics.bodies\n\n    function createGeometry(param) {\n      switch (param.shapeType) {\n        case 0:\n          return new SphereGeometry(param.width, 16, 8)\n\n        case 1:\n          return new BoxGeometry(param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8)\n\n        case 2:\n          return new CapsuleGeometry(param.width, param.height, 8, 16)\n\n        default:\n          return 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+{"version":3,"file":"MMDPhysics.cjs","sources":["../../src/animation/MMDPhysics.js"],"sourcesContent":["import {\n  Bone,\n  BoxGeometry,\n  Color,\n  Euler,\n  Matrix4,\n  Mesh,\n  MeshBasicMaterial,\n  Object3D,\n  Quaternion,\n  SphereGeometry,\n  Vector3,\n} from 'three'\nimport { CapsuleGeometry } from '../_polyfill/CapsuleGeometry'\n\n/**\n * Dependencies\n *  - Ammo.js https://github.com/kripken/ammo.js\n *\n * MMDPhysics calculates physics with Ammo(Bullet based JavaScript Physics engine)\n * for MMD model loaded by MMDLoader.\n *\n * TODO\n *  - Physics in Worker\n */\n\n/* global Ammo */\n\nclass MMDPhysics {\n  /**\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Array<Object>} rigidBodyParams\n   * @param {Array<Object>} (optional) constraintParams\n   * @param {Object} params - (optional)\n   * @param {Number} params.unitStep - Default is 1 / 65.\n   * @param {Integer} params.maxStepNum - Default is 3.\n   * @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )\n   */\n  constructor(mesh, rigidBodyParams, constraintParams = [], params = {}) {\n    if (typeof Ammo === 'undefined') {\n      throw new Error('THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js')\n    }\n\n    this.manager = new ResourceManager()\n\n    this.mesh = mesh\n\n    /*\n     * I don't know why but 1/60 unitStep easily breaks models\n     * so I set it 1/65 so far.\n     * Don't set too small unitStep because\n     * the smaller unitStep can make the performance worse.\n     */\n    this.unitStep = params.unitStep !== undefined ? params.unitStep : 1 / 65\n    this.maxStepNum = params.maxStepNum !== undefined ? params.maxStepNum : 3\n    this.gravity = new Vector3(0, -9.8 * 10, 0)\n\n    if (params.gravity !== undefined) this.gravity.copy(params.gravity)\n\n    this.world = params.world !== undefined ? params.world : null // experimental\n\n    this.bodies = []\n    this.constraints = []\n\n    this._init(mesh, rigidBodyParams, constraintParams)\n  }\n\n  /**\n   * Advances Physics calculation and updates bones.\n   *\n   * @param {Number} delta - time in second\n   * @return {MMDPhysics}\n   */\n  update(delta) {\n    const manager = this.manager\n    const mesh = this.mesh\n\n    // rigid bodies and constrains are for\n    // mesh's world scale (1, 1, 1).\n    // Convert to (1, 1, 1) if it isn't.\n\n    let isNonDefaultScale = false\n\n    const position = manager.allocThreeVector3()\n    const quaternion = manager.allocThreeQuaternion()\n    const scale = manager.allocThreeVector3()\n\n    mesh.matrixWorld.decompose(position, quaternion, scale)\n\n    if (scale.x !== 1 || scale.y !== 1 || scale.z !== 1) {\n      isNonDefaultScale = true\n    }\n\n    let parent\n\n    if (isNonDefaultScale) {\n      parent = mesh.parent\n\n      if (parent !== null) mesh.parent = null\n\n      scale.copy(this.mesh.scale)\n\n      mesh.scale.set(1, 1, 1)\n      mesh.updateMatrixWorld(true)\n    }\n\n    // calculate physics and update bones\n\n    this._updateRigidBodies()\n    this._stepSimulation(delta)\n    this._updateBones()\n\n    // restore mesh if converted above\n\n    if (isNonDefaultScale) {\n      if (parent !== null) mesh.parent = parent\n\n      mesh.scale.copy(scale)\n    }\n\n    manager.freeThreeVector3(scale)\n    manager.freeThreeQuaternion(quaternion)\n    manager.freeThreeVector3(position)\n\n    return this\n  }\n\n  /**\n   * Resets rigid bodies transorm to current bone's.\n   *\n   * @return {MMDPhysics}\n   */\n  reset() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].reset()\n    }\n\n    return this\n  }\n\n  /**\n   * Warm ups Rigid bodies. Calculates cycles steps.\n   *\n   * @param {Integer} cycles\n   * @return {MMDPhysics}\n   */\n  warmup(cycles) {\n    for (let i = 0; i < cycles; i++) {\n      this.update(1 / 60)\n    }\n\n    return this\n  }\n\n  /**\n   * Sets gravity.\n   *\n   * @param {Vector3} gravity\n   * @return {MMDPhysicsHelper}\n   */\n  setGravity(gravity) {\n    this.world.setGravity(new Ammo.btVector3(gravity.x, gravity.y, gravity.z))\n    this.gravity.copy(gravity)\n\n    return this\n  }\n\n  /**\n   * Creates MMDPhysicsHelper\n   *\n   * @return {MMDPhysicsHelper}\n   */\n  createHelper() {\n    return new MMDPhysicsHelper(this.mesh, this)\n  }\n\n  // private methods\n\n  _init(mesh, rigidBodyParams, constraintParams) {\n    const manager = this.manager\n\n    // rigid body/constraint parameters are for\n    // mesh's default world transform as position(0, 0, 0),\n    // quaternion(0, 0, 0, 1) and scale(0, 0, 0)\n\n    const parent = mesh.parent\n\n    if (parent !== null) mesh.parent = null\n\n    const currentPosition = manager.allocThreeVector3()\n    const currentQuaternion = manager.allocThreeQuaternion()\n    const currentScale = manager.allocThreeVector3()\n\n    currentPosition.copy(mesh.position)\n    currentQuaternion.copy(mesh.quaternion)\n    currentScale.copy(mesh.scale)\n\n    mesh.position.set(0, 0, 0)\n    mesh.quaternion.set(0, 0, 0, 1)\n    mesh.scale.set(1, 1, 1)\n\n    mesh.updateMatrixWorld(true)\n\n    if (this.world === null) {\n      this.world = this._createWorld()\n      this.setGravity(this.gravity)\n    }\n\n    this._initRigidBodies(rigidBodyParams)\n    this._initConstraints(constraintParams)\n\n    if (parent !== null) mesh.parent = parent\n\n    mesh.position.copy(currentPosition)\n    mesh.quaternion.copy(currentQuaternion)\n    mesh.scale.copy(currentScale)\n\n    mesh.updateMatrixWorld(true)\n\n    this.reset()\n\n    manager.freeThreeVector3(currentPosition)\n    manager.freeThreeQuaternion(currentQuaternion)\n    manager.freeThreeVector3(currentScale)\n  }\n\n  _createWorld() {\n    const config = new Ammo.btDefaultCollisionConfiguration()\n    const dispatcher = new Ammo.btCollisionDispatcher(config)\n    const cache = new Ammo.btDbvtBroadphase()\n    const solver = new Ammo.btSequentialImpulseConstraintSolver()\n    const world = new Ammo.btDiscreteDynamicsWorld(dispatcher, cache, solver, config)\n    return world\n  }\n\n  _initRigidBodies(rigidBodies) {\n    for (let i = 0, il = rigidBodies.length; i < il; i++) {\n      this.bodies.push(new RigidBody(this.mesh, this.world, rigidBodies[i], this.manager))\n    }\n  }\n\n  _initConstraints(constraints) {\n    for (let i = 0, il = constraints.length; i < il; i++) {\n      const params = constraints[i]\n      const bodyA = this.bodies[params.rigidBodyIndex1]\n      const bodyB = this.bodies[params.rigidBodyIndex2]\n      this.constraints.push(new Constraint(this.mesh, this.world, bodyA, bodyB, params, this.manager))\n    }\n  }\n\n  _stepSimulation(delta) {\n    const unitStep = this.unitStep\n    let stepTime = delta\n    let maxStepNum = ((delta / unitStep) | 0) + 1\n\n    if (stepTime < unitStep) {\n      stepTime = unitStep\n      maxStepNum = 1\n    }\n\n    if (maxStepNum > this.maxStepNum) {\n      maxStepNum = this.maxStepNum\n    }\n\n    this.world.stepSimulation(stepTime, maxStepNum, unitStep)\n  }\n\n  _updateRigidBodies() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].updateFromBone()\n    }\n  }\n\n  _updateBones() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].updateBone()\n    }\n  }\n}\n\n/**\n * This manager's responsibilies are\n *\n * 1. manage Ammo.js and Three.js object resources and\n *    improve the performance and the memory consumption by\n *    reusing objects.\n *\n * 2. provide simple Ammo object operations.\n */\nclass ResourceManager {\n  constructor() {\n    // for Three.js\n    this.threeVector3s = []\n    this.threeMatrix4s = []\n    this.threeQuaternions = []\n    this.threeEulers = []\n\n    // for Ammo.js\n    this.transforms = []\n    this.quaternions = []\n    this.vector3s = []\n  }\n\n  allocThreeVector3() {\n    return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new Vector3()\n  }\n\n  freeThreeVector3(v) {\n    this.threeVector3s.push(v)\n  }\n\n  allocThreeMatrix4() {\n    return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new Matrix4()\n  }\n\n  freeThreeMatrix4(m) {\n    this.threeMatrix4s.push(m)\n  }\n\n  allocThreeQuaternion() {\n    return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new Quaternion()\n  }\n\n  freeThreeQuaternion(q) {\n    this.threeQuaternions.push(q)\n  }\n\n  allocThreeEuler() {\n    return this.threeEulers.length > 0 ? this.threeEulers.pop() : new Euler()\n  }\n\n  freeThreeEuler(e) {\n    this.threeEulers.push(e)\n  }\n\n  allocTransform() {\n    return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform()\n  }\n\n  freeTransform(t) {\n    this.transforms.push(t)\n  }\n\n  allocQuaternion() {\n    return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion()\n  }\n\n  freeQuaternion(q) {\n    this.quaternions.push(q)\n  }\n\n  allocVector3() {\n    return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3()\n  }\n\n  freeVector3(v) {\n    this.vector3s.push(v)\n  }\n\n  setIdentity(t) {\n    t.setIdentity()\n  }\n\n  getBasis(t) {\n    var q = this.allocQuaternion()\n    t.getBasis().getRotation(q)\n    return q\n  }\n\n  getBasisAsMatrix3(t) {\n    var q = this.getBasis(t)\n    var m = this.quaternionToMatrix3(q)\n    this.freeQuaternion(q)\n    return m\n  }\n\n  getOrigin(t) {\n    return t.getOrigin()\n  }\n\n  setOrigin(t, v) {\n    t.getOrigin().setValue(v.x(), v.y(), v.z())\n  }\n\n  copyOrigin(t1, t2) {\n    var o = t2.getOrigin()\n    this.setOrigin(t1, o)\n  }\n\n  setBasis(t, q) {\n    t.setRotation(q)\n  }\n\n  setBasisFromMatrix3(t, m) {\n    var q = this.matrix3ToQuaternion(m)\n    this.setBasis(t, q)\n    this.freeQuaternion(q)\n  }\n\n  setOriginFromArray3(t, a) {\n    t.getOrigin().setValue(a[0], a[1], a[2])\n  }\n\n  setOriginFromThreeVector3(t, v) {\n    t.getOrigin().setValue(v.x, v.y, v.z)\n  }\n\n  setBasisFromArray3(t, a) {\n    var thQ = this.allocThreeQuaternion()\n    var thE = this.allocThreeEuler()\n    thE.set(a[0], a[1], a[2])\n    this.setBasisFromThreeQuaternion(t, thQ.setFromEuler(thE))\n\n    this.freeThreeEuler(thE)\n    this.freeThreeQuaternion(thQ)\n  }\n\n  setBasisFromThreeQuaternion(t, a) {\n    var q = this.allocQuaternion()\n\n    q.setX(a.x)\n    q.setY(a.y)\n    q.setZ(a.z)\n    q.setW(a.w)\n    this.setBasis(t, q)\n\n    this.freeQuaternion(q)\n  }\n\n  multiplyTransforms(t1, t2) {\n    var t = this.allocTransform()\n    this.setIdentity(t)\n\n    var m1 = this.getBasisAsMatrix3(t1)\n    var m2 = this.getBasisAsMatrix3(t2)\n\n    var o1 = this.getOrigin(t1)\n    var o2 = this.getOrigin(t2)\n\n    var v1 = this.multiplyMatrix3ByVector3(m1, o2)\n    var v2 = this.addVector3(v1, o1)\n    this.setOrigin(t, v2)\n\n    var m3 = this.multiplyMatrices3(m1, m2)\n    this.setBasisFromMatrix3(t, m3)\n\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return t\n  }\n\n  inverseTransform(t) {\n    var t2 = this.allocTransform()\n\n    var m1 = this.getBasisAsMatrix3(t)\n    var o = this.getOrigin(t)\n\n    var m2 = this.transposeMatrix3(m1)\n    var v1 = this.negativeVector3(o)\n    var v2 = this.multiplyMatrix3ByVector3(m2, v1)\n\n    this.setOrigin(t2, v2)\n    this.setBasisFromMatrix3(t2, m2)\n\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return t2\n  }\n\n  multiplyMatrices3(m1, m2) {\n    var m3 = []\n\n    var v10 = this.rowOfMatrix3(m1, 0)\n    var v11 = this.rowOfMatrix3(m1, 1)\n    var v12 = this.rowOfMatrix3(m1, 2)\n\n    var v20 = this.columnOfMatrix3(m2, 0)\n    var v21 = this.columnOfMatrix3(m2, 1)\n    var v22 = this.columnOfMatrix3(m2, 2)\n\n    m3[0] = this.dotVectors3(v10, v20)\n    m3[1] = this.dotVectors3(v10, v21)\n    m3[2] = this.dotVectors3(v10, v22)\n    m3[3] = this.dotVectors3(v11, v20)\n    m3[4] = this.dotVectors3(v11, v21)\n    m3[5] = this.dotVectors3(v11, v22)\n    m3[6] = this.dotVectors3(v12, v20)\n    m3[7] = this.dotVectors3(v12, v21)\n    m3[8] = this.dotVectors3(v12, v22)\n\n    this.freeVector3(v10)\n    this.freeVector3(v11)\n    this.freeVector3(v12)\n    this.freeVector3(v20)\n    this.freeVector3(v21)\n    this.freeVector3(v22)\n\n    return m3\n  }\n\n  addVector3(v1, v2) {\n    var v = this.allocVector3()\n    v.setValue(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z())\n    return v\n  }\n\n  dotVectors3(v1, v2) {\n    return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z()\n  }\n\n  rowOfMatrix3(m, i) {\n    var v = this.allocVector3()\n    v.setValue(m[i * 3 + 0], m[i * 3 + 1], m[i * 3 + 2])\n    return v\n  }\n\n  columnOfMatrix3(m, i) {\n    var v = this.allocVector3()\n    v.setValue(m[i + 0], m[i + 3], m[i + 6])\n    return v\n  }\n\n  negativeVector3(v) {\n    var v2 = this.allocVector3()\n    v2.setValue(-v.x(), -v.y(), -v.z())\n    return v2\n  }\n\n  multiplyMatrix3ByVector3(m, v) {\n    var v4 = this.allocVector3()\n\n    var v0 = this.rowOfMatrix3(m, 0)\n    var v1 = this.rowOfMatrix3(m, 1)\n    var v2 = this.rowOfMatrix3(m, 2)\n    var x = this.dotVectors3(v0, v)\n    var y = this.dotVectors3(v1, v)\n    var z = this.dotVectors3(v2, v)\n\n    v4.setValue(x, y, z)\n\n    this.freeVector3(v0)\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return v4\n  }\n\n  transposeMatrix3(m) {\n    var m2 = []\n    m2[0] = m[0]\n    m2[1] = m[3]\n    m2[2] = m[6]\n    m2[3] = m[1]\n    m2[4] = m[4]\n    m2[5] = m[7]\n    m2[6] = m[2]\n    m2[7] = m[5]\n    m2[8] = m[8]\n    return m2\n  }\n\n  quaternionToMatrix3(q) {\n    var m = []\n\n    var x = q.x()\n    var y = q.y()\n    var z = q.z()\n    var w = q.w()\n\n    var xx = x * x\n    var yy = y * y\n    var zz = z * z\n\n    var xy = x * y\n    var yz = y * z\n    var zx = z * x\n\n    var xw = x * w\n    var yw = y * w\n    var zw = z * w\n\n    m[0] = 1 - 2 * (yy + zz)\n    m[1] = 2 * (xy - zw)\n    m[2] = 2 * (zx + yw)\n    m[3] = 2 * (xy + zw)\n    m[4] = 1 - 2 * (zz + xx)\n    m[5] = 2 * (yz - xw)\n    m[6] = 2 * (zx - yw)\n    m[7] = 2 * (yz + xw)\n    m[8] = 1 - 2 * (xx + yy)\n\n    return m\n  }\n\n  matrix3ToQuaternion(m) {\n    var t = m[0] + m[4] + m[8]\n    var s, x, y, z, w\n\n    if (t > 0) {\n      s = Math.sqrt(t + 1.0) * 2\n      w = 0.25 * s\n      x = (m[7] - m[5]) / s\n      y = (m[2] - m[6]) / s\n      z = (m[3] - m[1]) / s\n    } else if (m[0] > m[4] && m[0] > m[8]) {\n      s = Math.sqrt(1.0 + m[0] - m[4] - m[8]) * 2\n      w = (m[7] - m[5]) / s\n      x = 0.25 * s\n      y = (m[1] + m[3]) / s\n      z = (m[2] + m[6]) / s\n    } else if (m[4] > m[8]) {\n      s = Math.sqrt(1.0 + m[4] - m[0] - m[8]) * 2\n      w = (m[2] - m[6]) / s\n      x = (m[1] + m[3]) / s\n      y = 0.25 * s\n      z = (m[5] + m[7]) / s\n    } else {\n      s = Math.sqrt(1.0 + m[8] - m[0] - m[4]) * 2\n      w = (m[3] - m[1]) / s\n      x = (m[2] + m[6]) / s\n      y = (m[5] + m[7]) / s\n      z = 0.25 * s\n    }\n\n    var q = this.allocQuaternion()\n    q.setX(x)\n    q.setY(y)\n    q.setZ(z)\n    q.setW(w)\n    return q\n  }\n}\n\n/**\n * @param {THREE.SkinnedMesh} mesh\n * @param {Ammo.btDiscreteDynamicsWorld} world\n * @param {Object} params\n * @param {ResourceManager} manager\n */\nclass RigidBody {\n  constructor(mesh, world, params, manager) {\n    this.mesh = mesh\n    this.world = world\n    this.params = params\n    this.manager = manager\n\n    this.body = null\n    this.bone = null\n    this.boneOffsetForm = null\n    this.boneOffsetFormInverse = null\n\n    this._init()\n  }\n\n  /**\n   * Resets rigid body transform to the current bone's.\n   *\n   * @return {RigidBody}\n   */\n  reset() {\n    this._setTransformFromBone()\n    return this\n  }\n\n  /**\n   * Updates rigid body's transform from the current bone.\n   *\n   * @return {RidigBody}\n   */\n  updateFromBone() {\n    if (this.params.boneIndex !== -1 && this.params.type === 0) {\n      this._setTransformFromBone()\n    }\n\n    return this\n  }\n\n  /**\n   * Updates bone from the current ridid body's transform.\n   *\n   * @return {RidigBody}\n   */\n  updateBone() {\n    if (this.params.type === 0 || this.params.boneIndex === -1) {\n      return this\n    }\n\n    this._updateBoneRotation()\n\n    if (this.params.type === 1) {\n      this._updateBonePosition()\n    }\n\n    this.bone.updateMatrixWorld(true)\n\n    if (this.params.type === 2) {\n      this._setPositionFromBone()\n    }\n\n    return this\n  }\n\n  // private methods\n\n  _init() {\n    function generateShape(p) {\n      switch (p.shapeType) {\n        case 0:\n          return new Ammo.btSphereShape(p.width)\n\n        case 1:\n          return new Ammo.btBoxShape(new Ammo.btVector3(p.width, p.height, p.depth))\n\n        case 2:\n          return new Ammo.btCapsuleShape(p.width, p.height)\n\n        default:\n          throw new Error('unknown shape type ' + p.shapeType)\n      }\n    }\n\n    const manager = this.manager\n    const params = this.params\n    const bones = this.mesh.skeleton.bones\n    const bone = params.boneIndex === -1 ? new Bone() : bones[params.boneIndex]\n\n    const shape = generateShape(params)\n    const weight = params.type === 0 ? 0 : params.weight\n    const localInertia = manager.allocVector3()\n    localInertia.setValue(0, 0, 0)\n\n    if (weight !== 0) {\n      shape.calculateLocalInertia(weight, localInertia)\n    }\n\n    const boneOffsetForm = manager.allocTransform()\n    manager.setIdentity(boneOffsetForm)\n    manager.setOriginFromArray3(boneOffsetForm, params.position)\n    manager.setBasisFromArray3(boneOffsetForm, params.rotation)\n\n    const vector = manager.allocThreeVector3()\n    const boneForm = manager.allocTransform()\n    manager.setIdentity(boneForm)\n    manager.setOriginFromThreeVector3(boneForm, bone.getWorldPosition(vector))\n\n    const form = manager.multiplyTransforms(boneForm, boneOffsetForm)\n    const state = new Ammo.btDefaultMotionState(form)\n\n    const info = new Ammo.btRigidBodyConstructionInfo(weight, state, shape, localInertia)\n    info.set_m_friction(params.friction)\n    info.set_m_restitution(params.restitution)\n\n    const body = new Ammo.btRigidBody(info)\n\n    if (params.type === 0) {\n      body.setCollisionFlags(body.getCollisionFlags() | 2)\n\n      /*\n       * It'd be better to comment out this line though in general I should call this method\n       * because I'm not sure why but physics will be more like MMD's\n       * if I comment out.\n       */\n      body.setActivationState(4)\n    }\n\n    body.setDamping(params.positionDamping, params.rotationDamping)\n    body.setSleepingThresholds(0, 0)\n\n    this.world.addRigidBody(body, 1 << params.groupIndex, params.groupTarget)\n\n    this.body = body\n    this.bone = bone\n    this.boneOffsetForm = boneOffsetForm\n    this.boneOffsetFormInverse = manager.inverseTransform(boneOffsetForm)\n\n    manager.freeVector3(localInertia)\n    manager.freeTransform(form)\n    manager.freeTransform(boneForm)\n    manager.freeThreeVector3(vector)\n  }\n\n  _getBoneTransform() {\n    const manager = this.manager\n    const p = manager.allocThreeVector3()\n    const q = manager.allocThreeQuaternion()\n    const s = manager.allocThreeVector3()\n\n    this.bone.matrixWorld.decompose(p, q, s)\n\n    const tr = manager.allocTransform()\n    manager.setOriginFromThreeVector3(tr, p)\n    manager.setBasisFromThreeQuaternion(tr, q)\n\n    const form = manager.multiplyTransforms(tr, this.boneOffsetForm)\n\n    manager.freeTransform(tr)\n    manager.freeThreeVector3(s)\n    manager.freeThreeQuaternion(q)\n    manager.freeThreeVector3(p)\n\n    return form\n  }\n\n  _getWorldTransformForBone() {\n    const manager = this.manager\n    const tr = this.body.getCenterOfMassTransform()\n    return manager.multiplyTransforms(tr, this.boneOffsetFormInverse)\n  }\n\n  _setTransformFromBone() {\n    const manager = this.manager\n    const form = this._getBoneTransform()\n\n    // TODO: check the most appropriate way to set\n    //this.body.setWorldTransform( form );\n    this.body.setCenterOfMassTransform(form)\n    this.body.getMotionState().setWorldTransform(form)\n\n    manager.freeTransform(form)\n  }\n\n  _setPositionFromBone() {\n    const manager = this.manager\n    const form = this._getBoneTransform()\n\n    const tr = manager.allocTransform()\n    this.body.getMotionState().getWorldTransform(tr)\n    manager.copyOrigin(tr, form)\n\n    // TODO: check the most appropriate way to set\n    //this.body.setWorldTransform( tr );\n    this.body.setCenterOfMassTransform(tr)\n    this.body.getMotionState().setWorldTransform(tr)\n\n    manager.freeTransform(tr)\n    manager.freeTransform(form)\n  }\n\n  _updateBoneRotation() {\n    const manager = this.manager\n\n    const tr = this._getWorldTransformForBone()\n    const q = manager.getBasis(tr)\n\n    const thQ = manager.allocThreeQuaternion()\n    const thQ2 = manager.allocThreeQuaternion()\n    const thQ3 = manager.allocThreeQuaternion()\n\n    thQ.set(q.x(), q.y(), q.z(), q.w())\n    thQ2.setFromRotationMatrix(this.bone.matrixWorld)\n    thQ2.conjugate()\n    thQ2.multiply(thQ)\n\n    //this.bone.quaternion.multiply( thQ2 );\n\n    thQ3.setFromRotationMatrix(this.bone.matrix)\n\n    // Renormalizing quaternion here because repeatedly transforming\n    // quaternion continuously accumulates floating point error and\n    // can end up being overflow. See #15335\n    this.bone.quaternion.copy(thQ2.multiply(thQ3).normalize())\n\n    manager.freeThreeQuaternion(thQ)\n    manager.freeThreeQuaternion(thQ2)\n    manager.freeThreeQuaternion(thQ3)\n\n    manager.freeQuaternion(q)\n    manager.freeTransform(tr)\n  }\n\n  _updateBonePosition() {\n    const manager = this.manager\n\n    const tr = this._getWorldTransformForBone()\n\n    const thV = manager.allocThreeVector3()\n\n    const o = manager.getOrigin(tr)\n    thV.set(o.x(), o.y(), o.z())\n\n    if (this.bone.parent) {\n      this.bone.parent.worldToLocal(thV)\n    }\n\n    this.bone.position.copy(thV)\n\n    manager.freeThreeVector3(thV)\n\n    manager.freeTransform(tr)\n  }\n}\n\n//\n\nclass Constraint {\n  /**\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Ammo.btDiscreteDynamicsWorld} world\n   * @param {RigidBody} bodyA\n   * @param {RigidBody} bodyB\n   * @param {Object} params\n   * @param {ResourceManager} manager\n   */\n  constructor(mesh, world, bodyA, bodyB, params, manager) {\n    this.mesh = mesh\n    this.world = world\n    this.bodyA = bodyA\n    this.bodyB = bodyB\n    this.params = params\n    this.manager = manager\n\n    this.constraint = null\n\n    this._init()\n  }\n\n  // private method\n\n  _init() {\n    const manager = this.manager\n    const params = this.params\n    const bodyA = this.bodyA\n    const bodyB = this.bodyB\n\n    const form = manager.allocTransform()\n    manager.setIdentity(form)\n    manager.setOriginFromArray3(form, params.position)\n    manager.setBasisFromArray3(form, params.rotation)\n\n    const formA = manager.allocTransform()\n    const formB = manager.allocTransform()\n\n    bodyA.body.getMotionState().getWorldTransform(formA)\n    bodyB.body.getMotionState().getWorldTransform(formB)\n\n    const formInverseA = manager.inverseTransform(formA)\n    const formInverseB = manager.inverseTransform(formB)\n\n    const formA2 = manager.multiplyTransforms(formInverseA, form)\n    const formB2 = manager.multiplyTransforms(formInverseB, form)\n\n    const constraint = new Ammo.btGeneric6DofSpringConstraint(bodyA.body, bodyB.body, formA2, formB2, true)\n\n    const lll = manager.allocVector3()\n    const lul = manager.allocVector3()\n    const all = manager.allocVector3()\n    const aul = manager.allocVector3()\n\n    lll.setValue(params.translationLimitation1[0], params.translationLimitation1[1], params.translationLimitation1[2])\n    lul.setValue(params.translationLimitation2[0], params.translationLimitation2[1], params.translationLimitation2[2])\n    all.setValue(params.rotationLimitation1[0], params.rotationLimitation1[1], params.rotationLimitation1[2])\n    aul.setValue(params.rotationLimitation2[0], params.rotationLimitation2[1], params.rotationLimitation2[2])\n\n    constraint.setLinearLowerLimit(lll)\n    constraint.setLinearUpperLimit(lul)\n    constraint.setAngularLowerLimit(all)\n    constraint.setAngularUpperLimit(aul)\n\n    for (let i = 0; i < 3; i++) {\n      if (params.springPosition[i] !== 0) {\n        constraint.enableSpring(i, true)\n        constraint.setStiffness(i, params.springPosition[i])\n      }\n    }\n\n    for (let i = 0; i < 3; i++) {\n      if (params.springRotation[i] !== 0) {\n        constraint.enableSpring(i + 3, true)\n        constraint.setStiffness(i + 3, params.springRotation[i])\n      }\n    }\n\n    /*\n     * Currently(10/31/2016) official ammo.js doesn't support\n     * btGeneric6DofSpringConstraint.setParam method.\n     * You need custom ammo.js (add the method into idl) if you wanna use.\n     * By setting this parameter, physics will be more like MMD's\n     */\n    if (constraint.setParam !== undefined) {\n      for (let i = 0; i < 6; i++) {\n        constraint.setParam(2, 0.475, i)\n      }\n    }\n\n    this.world.addConstraint(constraint, true)\n    this.constraint = constraint\n\n    manager.freeTransform(form)\n    manager.freeTransform(formA)\n    manager.freeTransform(formB)\n    manager.freeTransform(formInverseA)\n    manager.freeTransform(formInverseB)\n    manager.freeTransform(formA2)\n    manager.freeTransform(formB2)\n    manager.freeVector3(lll)\n    manager.freeVector3(lul)\n    manager.freeVector3(all)\n    manager.freeVector3(aul)\n  }\n}\n\nconst _position = /* @__PURE__ */ new Vector3()\nconst _quaternion = /* @__PURE__ */ new Quaternion()\nconst _scale = /* @__PURE__ */ new Vector3()\nconst _matrixWorldInv = /* @__PURE__ */ new Matrix4()\n\nclass MMDPhysicsHelper extends Object3D {\n  /**\n   * Visualize Rigid bodies\n   *\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Physics} physics\n   */\n  constructor(mesh, physics) {\n    super()\n\n    this.root = mesh\n    this.physics = physics\n\n    this.matrix.copy(mesh.matrixWorld)\n    this.matrixAutoUpdate = false\n\n    this.materials = []\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0xff8888),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0x88ff88),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0x8888ff),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this._init()\n  }\n\n  /**\n   * Frees the GPU-related resources allocated by this instance. Call this method whenever this instance is no longer used in your app.\n   */\n  dispose() {\n    const materials = this.materials\n    const children = this.children\n\n    for (let i = 0; i < materials.length; i++) {\n      materials[i].dispose()\n    }\n\n    for (let i = 0; i < children.length; i++) {\n      const child = children[i]\n\n      if (child.isMesh) child.geometry.dispose()\n    }\n  }\n\n  /**\n   * Updates Rigid Bodies visualization.\n   */\n  updateMatrixWorld(force) {\n    var mesh = this.root\n\n    if (this.visible) {\n      var bodies = this.physics.bodies\n\n      _matrixWorldInv\n        .copy(mesh.matrixWorld)\n        .decompose(_position, _quaternion, _scale)\n        .compose(_position, _quaternion, _scale.set(1, 1, 1))\n        .invert()\n\n      for (var i = 0, il = bodies.length; i < il; i++) {\n        var body = bodies[i].body\n        var child = this.children[i]\n\n        var tr = body.getCenterOfMassTransform()\n        var origin = tr.getOrigin()\n        var rotation = tr.getRotation()\n\n        child.position.set(origin.x(), origin.y(), origin.z()).applyMatrix4(_matrixWorldInv)\n\n        child.quaternion\n          .setFromRotationMatrix(_matrixWorldInv)\n          .multiply(_quaternion.set(rotation.x(), rotation.y(), rotation.z(), rotation.w()))\n      }\n    }\n\n    this.matrix\n      .copy(mesh.matrixWorld)\n      .decompose(_position, _quaternion, _scale)\n      .compose(_position, _quaternion, _scale.set(1, 1, 1))\n\n    super.updateMatrixWorld(force)\n  }\n\n  // private method\n\n  _init() {\n    var bodies = this.physics.bodies\n\n    function createGeometry(param) {\n      switch (param.shapeType) {\n        case 0:\n          return new SphereGeometry(param.width, 16, 8)\n\n        case 1:\n          return new BoxGeometry(param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8)\n\n        case 2:\n          return new CapsuleGeometry(param.width, param.height, 8, 16)\n\n        default:\n          return null\n      }\n    }\n\n    for (var i = 0, il = bodies.length; i < il; i++) {\n      var param = bodies[i].params\n      this.add(new Mesh(createGeometry(param), this.materials[param.type]))\n    }\n  }\n}\n\nexport { MMDPhysics 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package/animation/MMDPhysics.js

@@ -718,10 +718,10 @@ class Constraint {
     manager.freeVector3(aul);
   }
 }
-const _position = new Vector3();
-const _quaternion = new Quaternion();
-const _scale = new Vector3();
-const _matrixWorldInv = new Matrix4();
+const _position = /* @__PURE__ */ new Vector3();
+const _quaternion = /* @__PURE__ */ new Quaternion();
+const _scale = /* @__PURE__ */ new Vector3();
+const _matrixWorldInv = /* @__PURE__ */ new Matrix4();
 class MMDPhysicsHelper extends Object3D {
   /**
    * Visualize Rigid bodies

package/animation/MMDPhysics.js.map

@@ -1 +1 @@
-{"version":3,"file":"MMDPhysics.js","sources":["../../src/animation/MMDPhysics.js"],"sourcesContent":["import {\n  Bone,\n  BoxGeometry,\n  Color,\n  Euler,\n  Matrix4,\n  Mesh,\n  MeshBasicMaterial,\n  Object3D,\n  Quaternion,\n  SphereGeometry,\n  Vector3,\n} from 'three'\nimport { CapsuleGeometry } from '../_polyfill/CapsuleGeometry'\n\n/**\n * Dependencies\n *  - Ammo.js https://github.com/kripken/ammo.js\n *\n * MMDPhysics calculates physics with Ammo(Bullet based JavaScript Physics engine)\n * for MMD model loaded by MMDLoader.\n *\n * TODO\n *  - Physics in Worker\n */\n\n/* global Ammo */\n\nclass MMDPhysics {\n  /**\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Array<Object>} rigidBodyParams\n   * @param {Array<Object>} (optional) constraintParams\n   * @param {Object} params - (optional)\n   * @param {Number} params.unitStep - Default is 1 / 65.\n   * @param {Integer} params.maxStepNum - Default is 3.\n   * @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )\n   */\n  constructor(mesh, rigidBodyParams, constraintParams = [], params = {}) {\n    if (typeof Ammo === 'undefined') {\n      throw new Error('THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js')\n    }\n\n    this.manager = new ResourceManager()\n\n    this.mesh = mesh\n\n    /*\n     * I don't know why but 1/60 unitStep easily breaks models\n     * so I set it 1/65 so far.\n     * Don't set too small unitStep because\n     * the smaller unitStep can make the performance worse.\n     */\n    this.unitStep = params.unitStep !== undefined ? params.unitStep : 1 / 65\n    this.maxStepNum = params.maxStepNum !== undefined ? params.maxStepNum : 3\n    this.gravity = new Vector3(0, -9.8 * 10, 0)\n\n    if (params.gravity !== undefined) this.gravity.copy(params.gravity)\n\n    this.world = params.world !== undefined ? params.world : null // experimental\n\n    this.bodies = []\n    this.constraints = []\n\n    this._init(mesh, rigidBodyParams, constraintParams)\n  }\n\n  /**\n   * Advances Physics calculation and updates bones.\n   *\n   * @param {Number} delta - time in second\n   * @return {MMDPhysics}\n   */\n  update(delta) {\n    const manager = this.manager\n    const mesh = this.mesh\n\n    // rigid bodies and constrains are for\n    // mesh's world scale (1, 1, 1).\n    // Convert to (1, 1, 1) if it isn't.\n\n    let isNonDefaultScale = false\n\n    const position = manager.allocThreeVector3()\n    const quaternion = manager.allocThreeQuaternion()\n    const scale = manager.allocThreeVector3()\n\n    mesh.matrixWorld.decompose(position, quaternion, scale)\n\n    if (scale.x !== 1 || scale.y !== 1 || scale.z !== 1) {\n      isNonDefaultScale = true\n    }\n\n    let parent\n\n    if (isNonDefaultScale) {\n      parent = mesh.parent\n\n      if (parent !== null) mesh.parent = null\n\n      scale.copy(this.mesh.scale)\n\n      mesh.scale.set(1, 1, 1)\n      mesh.updateMatrixWorld(true)\n    }\n\n    // calculate physics and update bones\n\n    this._updateRigidBodies()\n    this._stepSimulation(delta)\n    this._updateBones()\n\n    // restore mesh if converted above\n\n    if (isNonDefaultScale) {\n      if (parent !== null) mesh.parent = parent\n\n      mesh.scale.copy(scale)\n    }\n\n    manager.freeThreeVector3(scale)\n    manager.freeThreeQuaternion(quaternion)\n    manager.freeThreeVector3(position)\n\n    return this\n  }\n\n  /**\n   * Resets rigid bodies transorm to current bone's.\n   *\n   * @return {MMDPhysics}\n   */\n  reset() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].reset()\n    }\n\n    return this\n  }\n\n  /**\n   * Warm ups Rigid bodies. Calculates cycles steps.\n   *\n   * @param {Integer} cycles\n   * @return {MMDPhysics}\n   */\n  warmup(cycles) {\n    for (let i = 0; i < cycles; i++) {\n      this.update(1 / 60)\n    }\n\n    return this\n  }\n\n  /**\n   * Sets gravity.\n   *\n   * @param {Vector3} gravity\n   * @return {MMDPhysicsHelper}\n   */\n  setGravity(gravity) {\n    this.world.setGravity(new Ammo.btVector3(gravity.x, gravity.y, gravity.z))\n    this.gravity.copy(gravity)\n\n    return this\n  }\n\n  /**\n   * Creates MMDPhysicsHelper\n   *\n   * @return {MMDPhysicsHelper}\n   */\n  createHelper() {\n    return new MMDPhysicsHelper(this.mesh, this)\n  }\n\n  // private methods\n\n  _init(mesh, rigidBodyParams, constraintParams) {\n    const manager = this.manager\n\n    // rigid body/constraint parameters are for\n    // mesh's default world transform as position(0, 0, 0),\n    // quaternion(0, 0, 0, 1) and scale(0, 0, 0)\n\n    const parent = mesh.parent\n\n    if (parent !== null) mesh.parent = null\n\n    const currentPosition = manager.allocThreeVector3()\n    const currentQuaternion = manager.allocThreeQuaternion()\n    const currentScale = manager.allocThreeVector3()\n\n    currentPosition.copy(mesh.position)\n    currentQuaternion.copy(mesh.quaternion)\n    currentScale.copy(mesh.scale)\n\n    mesh.position.set(0, 0, 0)\n    mesh.quaternion.set(0, 0, 0, 1)\n    mesh.scale.set(1, 1, 1)\n\n    mesh.updateMatrixWorld(true)\n\n    if (this.world === null) {\n      this.world = this._createWorld()\n      this.setGravity(this.gravity)\n    }\n\n    this._initRigidBodies(rigidBodyParams)\n    this._initConstraints(constraintParams)\n\n    if (parent !== null) mesh.parent = parent\n\n    mesh.position.copy(currentPosition)\n    mesh.quaternion.copy(currentQuaternion)\n    mesh.scale.copy(currentScale)\n\n    mesh.updateMatrixWorld(true)\n\n    this.reset()\n\n    manager.freeThreeVector3(currentPosition)\n    manager.freeThreeQuaternion(currentQuaternion)\n    manager.freeThreeVector3(currentScale)\n  }\n\n  _createWorld() {\n    const config = new Ammo.btDefaultCollisionConfiguration()\n    const dispatcher = new Ammo.btCollisionDispatcher(config)\n    const cache = new Ammo.btDbvtBroadphase()\n    const solver = new Ammo.btSequentialImpulseConstraintSolver()\n    const world = new Ammo.btDiscreteDynamicsWorld(dispatcher, cache, solver, config)\n    return world\n  }\n\n  _initRigidBodies(rigidBodies) {\n    for (let i = 0, il = rigidBodies.length; i < il; i++) {\n      this.bodies.push(new RigidBody(this.mesh, this.world, rigidBodies[i], this.manager))\n    }\n  }\n\n  _initConstraints(constraints) {\n    for (let i = 0, il = constraints.length; i < il; i++) {\n      const params = constraints[i]\n      const bodyA = this.bodies[params.rigidBodyIndex1]\n      const bodyB = this.bodies[params.rigidBodyIndex2]\n      this.constraints.push(new Constraint(this.mesh, this.world, bodyA, bodyB, params, this.manager))\n    }\n  }\n\n  _stepSimulation(delta) {\n    const unitStep = this.unitStep\n    let stepTime = delta\n    let maxStepNum = ((delta / unitStep) | 0) + 1\n\n    if (stepTime < unitStep) {\n      stepTime = unitStep\n      maxStepNum = 1\n    }\n\n    if (maxStepNum > this.maxStepNum) {\n      maxStepNum = this.maxStepNum\n    }\n\n    this.world.stepSimulation(stepTime, maxStepNum, unitStep)\n  }\n\n  _updateRigidBodies() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].updateFromBone()\n    }\n  }\n\n  _updateBones() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].updateBone()\n    }\n  }\n}\n\n/**\n * This manager's responsibilies are\n *\n * 1. manage Ammo.js and Three.js object resources and\n *    improve the performance and the memory consumption by\n *    reusing objects.\n *\n * 2. provide simple Ammo object operations.\n */\nclass ResourceManager {\n  constructor() {\n    // for Three.js\n    this.threeVector3s = []\n    this.threeMatrix4s = []\n    this.threeQuaternions = []\n    this.threeEulers = []\n\n    // for Ammo.js\n    this.transforms = []\n    this.quaternions = []\n    this.vector3s = []\n  }\n\n  allocThreeVector3() {\n    return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new Vector3()\n  }\n\n  freeThreeVector3(v) {\n    this.threeVector3s.push(v)\n  }\n\n  allocThreeMatrix4() {\n    return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new Matrix4()\n  }\n\n  freeThreeMatrix4(m) {\n    this.threeMatrix4s.push(m)\n  }\n\n  allocThreeQuaternion() {\n    return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new Quaternion()\n  }\n\n  freeThreeQuaternion(q) {\n    this.threeQuaternions.push(q)\n  }\n\n  allocThreeEuler() {\n    return this.threeEulers.length > 0 ? this.threeEulers.pop() : new Euler()\n  }\n\n  freeThreeEuler(e) {\n    this.threeEulers.push(e)\n  }\n\n  allocTransform() {\n    return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform()\n  }\n\n  freeTransform(t) {\n    this.transforms.push(t)\n  }\n\n  allocQuaternion() {\n    return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion()\n  }\n\n  freeQuaternion(q) {\n    this.quaternions.push(q)\n  }\n\n  allocVector3() {\n    return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3()\n  }\n\n  freeVector3(v) {\n    this.vector3s.push(v)\n  }\n\n  setIdentity(t) {\n    t.setIdentity()\n  }\n\n  getBasis(t) {\n    var q = this.allocQuaternion()\n    t.getBasis().getRotation(q)\n    return q\n  }\n\n  getBasisAsMatrix3(t) {\n    var q = this.getBasis(t)\n    var m = this.quaternionToMatrix3(q)\n    this.freeQuaternion(q)\n    return m\n  }\n\n  getOrigin(t) {\n    return t.getOrigin()\n  }\n\n  setOrigin(t, v) {\n    t.getOrigin().setValue(v.x(), v.y(), v.z())\n  }\n\n  copyOrigin(t1, t2) {\n    var o = t2.getOrigin()\n    this.setOrigin(t1, o)\n  }\n\n  setBasis(t, q) {\n    t.setRotation(q)\n  }\n\n  setBasisFromMatrix3(t, m) {\n    var q = this.matrix3ToQuaternion(m)\n    this.setBasis(t, q)\n    this.freeQuaternion(q)\n  }\n\n  setOriginFromArray3(t, a) {\n    t.getOrigin().setValue(a[0], a[1], a[2])\n  }\n\n  setOriginFromThreeVector3(t, v) {\n    t.getOrigin().setValue(v.x, v.y, v.z)\n  }\n\n  setBasisFromArray3(t, a) {\n    var thQ = this.allocThreeQuaternion()\n    var thE = this.allocThreeEuler()\n    thE.set(a[0], a[1], a[2])\n    this.setBasisFromThreeQuaternion(t, thQ.setFromEuler(thE))\n\n    this.freeThreeEuler(thE)\n    this.freeThreeQuaternion(thQ)\n  }\n\n  setBasisFromThreeQuaternion(t, a) {\n    var q = this.allocQuaternion()\n\n    q.setX(a.x)\n    q.setY(a.y)\n    q.setZ(a.z)\n    q.setW(a.w)\n    this.setBasis(t, q)\n\n    this.freeQuaternion(q)\n  }\n\n  multiplyTransforms(t1, t2) {\n    var t = this.allocTransform()\n    this.setIdentity(t)\n\n    var m1 = this.getBasisAsMatrix3(t1)\n    var m2 = this.getBasisAsMatrix3(t2)\n\n    var o1 = this.getOrigin(t1)\n    var o2 = this.getOrigin(t2)\n\n    var v1 = this.multiplyMatrix3ByVector3(m1, o2)\n    var v2 = this.addVector3(v1, o1)\n    this.setOrigin(t, v2)\n\n    var m3 = this.multiplyMatrices3(m1, m2)\n    this.setBasisFromMatrix3(t, m3)\n\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return t\n  }\n\n  inverseTransform(t) {\n    var t2 = this.allocTransform()\n\n    var m1 = this.getBasisAsMatrix3(t)\n    var o = this.getOrigin(t)\n\n    var m2 = this.transposeMatrix3(m1)\n    var v1 = this.negativeVector3(o)\n    var v2 = this.multiplyMatrix3ByVector3(m2, v1)\n\n    this.setOrigin(t2, v2)\n    this.setBasisFromMatrix3(t2, m2)\n\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return t2\n  }\n\n  multiplyMatrices3(m1, m2) {\n    var m3 = []\n\n    var v10 = this.rowOfMatrix3(m1, 0)\n    var v11 = this.rowOfMatrix3(m1, 1)\n    var v12 = this.rowOfMatrix3(m1, 2)\n\n    var v20 = this.columnOfMatrix3(m2, 0)\n    var v21 = this.columnOfMatrix3(m2, 1)\n    var v22 = this.columnOfMatrix3(m2, 2)\n\n    m3[0] = this.dotVectors3(v10, v20)\n    m3[1] = this.dotVectors3(v10, v21)\n    m3[2] = this.dotVectors3(v10, v22)\n    m3[3] = this.dotVectors3(v11, v20)\n    m3[4] = this.dotVectors3(v11, v21)\n    m3[5] = this.dotVectors3(v11, v22)\n    m3[6] = this.dotVectors3(v12, v20)\n    m3[7] = this.dotVectors3(v12, v21)\n    m3[8] = this.dotVectors3(v12, v22)\n\n    this.freeVector3(v10)\n    this.freeVector3(v11)\n    this.freeVector3(v12)\n    this.freeVector3(v20)\n    this.freeVector3(v21)\n    this.freeVector3(v22)\n\n    return m3\n  }\n\n  addVector3(v1, v2) {\n    var v = this.allocVector3()\n    v.setValue(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z())\n    return v\n  }\n\n  dotVectors3(v1, v2) {\n    return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z()\n  }\n\n  rowOfMatrix3(m, i) {\n    var v = this.allocVector3()\n    v.setValue(m[i * 3 + 0], m[i * 3 + 1], m[i * 3 + 2])\n    return v\n  }\n\n  columnOfMatrix3(m, i) {\n    var v = this.allocVector3()\n    v.setValue(m[i + 0], m[i + 3], m[i + 6])\n    return v\n  }\n\n  negativeVector3(v) {\n    var v2 = this.allocVector3()\n    v2.setValue(-v.x(), -v.y(), -v.z())\n    return v2\n  }\n\n  multiplyMatrix3ByVector3(m, v) {\n    var v4 = this.allocVector3()\n\n    var v0 = this.rowOfMatrix3(m, 0)\n    var v1 = this.rowOfMatrix3(m, 1)\n    var v2 = this.rowOfMatrix3(m, 2)\n    var x = this.dotVectors3(v0, v)\n    var y = this.dotVectors3(v1, v)\n    var z = this.dotVectors3(v2, v)\n\n    v4.setValue(x, y, z)\n\n    this.freeVector3(v0)\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return v4\n  }\n\n  transposeMatrix3(m) {\n    var m2 = []\n    m2[0] = m[0]\n    m2[1] = m[3]\n    m2[2] = m[6]\n    m2[3] = m[1]\n    m2[4] = m[4]\n    m2[5] = m[7]\n    m2[6] = m[2]\n    m2[7] = m[5]\n    m2[8] = m[8]\n    return m2\n  }\n\n  quaternionToMatrix3(q) {\n    var m = []\n\n    var x = q.x()\n    var y = q.y()\n    var z = q.z()\n    var w = q.w()\n\n    var xx = x * x\n    var yy = y * y\n    var zz = z * z\n\n    var xy = x * y\n    var yz = y * z\n    var zx = z * x\n\n    var xw = x * w\n    var yw = y * w\n    var zw = z * w\n\n    m[0] = 1 - 2 * (yy + zz)\n    m[1] = 2 * (xy - zw)\n    m[2] = 2 * (zx + yw)\n    m[3] = 2 * (xy + zw)\n    m[4] = 1 - 2 * (zz + xx)\n    m[5] = 2 * (yz - xw)\n    m[6] = 2 * (zx - yw)\n    m[7] = 2 * (yz + xw)\n    m[8] = 1 - 2 * (xx + yy)\n\n    return m\n  }\n\n  matrix3ToQuaternion(m) {\n    var t = m[0] + m[4] + m[8]\n    var s, x, y, z, w\n\n    if (t > 0) {\n      s = Math.sqrt(t + 1.0) * 2\n      w = 0.25 * s\n      x = (m[7] - m[5]) / s\n      y = (m[2] - m[6]) / s\n      z = (m[3] - m[1]) / s\n    } else if (m[0] > m[4] && m[0] > m[8]) {\n      s = Math.sqrt(1.0 + m[0] - m[4] - m[8]) * 2\n      w = (m[7] - m[5]) / s\n      x = 0.25 * s\n      y = (m[1] + m[3]) / s\n      z = (m[2] + m[6]) / s\n    } else if (m[4] > m[8]) {\n      s = Math.sqrt(1.0 + m[4] - m[0] - m[8]) * 2\n      w = (m[2] - m[6]) / s\n      x = (m[1] + m[3]) / s\n      y = 0.25 * s\n      z = (m[5] + m[7]) / s\n    } else {\n      s = Math.sqrt(1.0 + m[8] - m[0] - m[4]) * 2\n      w = (m[3] - m[1]) / s\n      x = (m[2] + m[6]) / s\n      y = (m[5] + m[7]) / s\n      z = 0.25 * s\n    }\n\n    var q = this.allocQuaternion()\n    q.setX(x)\n    q.setY(y)\n    q.setZ(z)\n    q.setW(w)\n    return q\n  }\n}\n\n/**\n * @param {THREE.SkinnedMesh} mesh\n * @param {Ammo.btDiscreteDynamicsWorld} world\n * @param {Object} params\n * @param {ResourceManager} manager\n */\nclass RigidBody {\n  constructor(mesh, world, params, manager) {\n    this.mesh = mesh\n    this.world = world\n    this.params = params\n    this.manager = manager\n\n    this.body = null\n    this.bone = null\n    this.boneOffsetForm = null\n    this.boneOffsetFormInverse = null\n\n    this._init()\n  }\n\n  /**\n   * Resets rigid body transform to the current bone's.\n   *\n   * @return {RigidBody}\n   */\n  reset() {\n    this._setTransformFromBone()\n    return this\n  }\n\n  /**\n   * Updates rigid body's transform from the current bone.\n   *\n   * @return {RidigBody}\n   */\n  updateFromBone() {\n    if (this.params.boneIndex !== -1 && this.params.type === 0) {\n      this._setTransformFromBone()\n    }\n\n    return this\n  }\n\n  /**\n   * Updates bone from the current ridid body's transform.\n   *\n   * @return {RidigBody}\n   */\n  updateBone() {\n    if (this.params.type === 0 || this.params.boneIndex === -1) {\n      return this\n    }\n\n    this._updateBoneRotation()\n\n    if (this.params.type === 1) {\n      this._updateBonePosition()\n    }\n\n    this.bone.updateMatrixWorld(true)\n\n    if (this.params.type === 2) {\n      this._setPositionFromBone()\n    }\n\n    return this\n  }\n\n  // private methods\n\n  _init() {\n    function generateShape(p) {\n      switch (p.shapeType) {\n        case 0:\n          return new Ammo.btSphereShape(p.width)\n\n        case 1:\n          return new Ammo.btBoxShape(new Ammo.btVector3(p.width, p.height, p.depth))\n\n        case 2:\n          return new Ammo.btCapsuleShape(p.width, p.height)\n\n        default:\n          throw new Error('unknown shape type ' + p.shapeType)\n      }\n    }\n\n    const manager = this.manager\n    const params = this.params\n    const bones = this.mesh.skeleton.bones\n    const bone = params.boneIndex === -1 ? new Bone() : bones[params.boneIndex]\n\n    const shape = generateShape(params)\n    const weight = params.type === 0 ? 0 : params.weight\n    const localInertia = manager.allocVector3()\n    localInertia.setValue(0, 0, 0)\n\n    if (weight !== 0) {\n      shape.calculateLocalInertia(weight, localInertia)\n    }\n\n    const boneOffsetForm = manager.allocTransform()\n    manager.setIdentity(boneOffsetForm)\n    manager.setOriginFromArray3(boneOffsetForm, params.position)\n    manager.setBasisFromArray3(boneOffsetForm, params.rotation)\n\n    const vector = manager.allocThreeVector3()\n    const boneForm = manager.allocTransform()\n    manager.setIdentity(boneForm)\n    manager.setOriginFromThreeVector3(boneForm, bone.getWorldPosition(vector))\n\n    const form = manager.multiplyTransforms(boneForm, boneOffsetForm)\n    const state = new Ammo.btDefaultMotionState(form)\n\n    const info = new Ammo.btRigidBodyConstructionInfo(weight, state, shape, localInertia)\n    info.set_m_friction(params.friction)\n    info.set_m_restitution(params.restitution)\n\n    const body = new Ammo.btRigidBody(info)\n\n    if (params.type === 0) {\n      body.setCollisionFlags(body.getCollisionFlags() | 2)\n\n      /*\n       * It'd be better to comment out this line though in general I should call this method\n       * because I'm not sure why but physics will be more like MMD's\n       * if I comment out.\n       */\n      body.setActivationState(4)\n    }\n\n    body.setDamping(params.positionDamping, params.rotationDamping)\n    body.setSleepingThresholds(0, 0)\n\n    this.world.addRigidBody(body, 1 << params.groupIndex, params.groupTarget)\n\n    this.body = body\n    this.bone = bone\n    this.boneOffsetForm = boneOffsetForm\n    this.boneOffsetFormInverse = manager.inverseTransform(boneOffsetForm)\n\n    manager.freeVector3(localInertia)\n    manager.freeTransform(form)\n    manager.freeTransform(boneForm)\n    manager.freeThreeVector3(vector)\n  }\n\n  _getBoneTransform() {\n    const manager = this.manager\n    const p = manager.allocThreeVector3()\n    const q = manager.allocThreeQuaternion()\n    const s = manager.allocThreeVector3()\n\n    this.bone.matrixWorld.decompose(p, q, s)\n\n    const tr = manager.allocTransform()\n    manager.setOriginFromThreeVector3(tr, p)\n    manager.setBasisFromThreeQuaternion(tr, q)\n\n    const form = manager.multiplyTransforms(tr, this.boneOffsetForm)\n\n    manager.freeTransform(tr)\n    manager.freeThreeVector3(s)\n    manager.freeThreeQuaternion(q)\n    manager.freeThreeVector3(p)\n\n    return form\n  }\n\n  _getWorldTransformForBone() {\n    const manager = this.manager\n    const tr = this.body.getCenterOfMassTransform()\n    return manager.multiplyTransforms(tr, this.boneOffsetFormInverse)\n  }\n\n  _setTransformFromBone() {\n    const manager = this.manager\n    const form = this._getBoneTransform()\n\n    // TODO: check the most appropriate way to set\n    //this.body.setWorldTransform( form );\n    this.body.setCenterOfMassTransform(form)\n    this.body.getMotionState().setWorldTransform(form)\n\n    manager.freeTransform(form)\n  }\n\n  _setPositionFromBone() {\n    const manager = this.manager\n    const form = this._getBoneTransform()\n\n    const tr = manager.allocTransform()\n    this.body.getMotionState().getWorldTransform(tr)\n    manager.copyOrigin(tr, form)\n\n    // TODO: check the most appropriate way to set\n    //this.body.setWorldTransform( tr );\n    this.body.setCenterOfMassTransform(tr)\n    this.body.getMotionState().setWorldTransform(tr)\n\n    manager.freeTransform(tr)\n    manager.freeTransform(form)\n  }\n\n  _updateBoneRotation() {\n    const manager = this.manager\n\n    const tr = this._getWorldTransformForBone()\n    const q = manager.getBasis(tr)\n\n    const thQ = manager.allocThreeQuaternion()\n    const thQ2 = manager.allocThreeQuaternion()\n    const thQ3 = manager.allocThreeQuaternion()\n\n    thQ.set(q.x(), q.y(), q.z(), q.w())\n    thQ2.setFromRotationMatrix(this.bone.matrixWorld)\n    thQ2.conjugate()\n    thQ2.multiply(thQ)\n\n    //this.bone.quaternion.multiply( thQ2 );\n\n    thQ3.setFromRotationMatrix(this.bone.matrix)\n\n    // Renormalizing quaternion here because repeatedly transforming\n    // quaternion continuously accumulates floating point error and\n    // can end up being overflow. See #15335\n    this.bone.quaternion.copy(thQ2.multiply(thQ3).normalize())\n\n    manager.freeThreeQuaternion(thQ)\n    manager.freeThreeQuaternion(thQ2)\n    manager.freeThreeQuaternion(thQ3)\n\n    manager.freeQuaternion(q)\n    manager.freeTransform(tr)\n  }\n\n  _updateBonePosition() {\n    const manager = this.manager\n\n    const tr = this._getWorldTransformForBone()\n\n    const thV = manager.allocThreeVector3()\n\n    const o = manager.getOrigin(tr)\n    thV.set(o.x(), o.y(), o.z())\n\n    if (this.bone.parent) {\n      this.bone.parent.worldToLocal(thV)\n    }\n\n    this.bone.position.copy(thV)\n\n    manager.freeThreeVector3(thV)\n\n    manager.freeTransform(tr)\n  }\n}\n\n//\n\nclass Constraint {\n  /**\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Ammo.btDiscreteDynamicsWorld} world\n   * @param {RigidBody} bodyA\n   * @param {RigidBody} bodyB\n   * @param {Object} params\n   * @param {ResourceManager} manager\n   */\n  constructor(mesh, world, bodyA, bodyB, params, manager) {\n    this.mesh = mesh\n    this.world = world\n    this.bodyA = bodyA\n    this.bodyB = bodyB\n    this.params = params\n    this.manager = manager\n\n    this.constraint = null\n\n    this._init()\n  }\n\n  // private method\n\n  _init() {\n    const manager = this.manager\n    const params = this.params\n    const bodyA = this.bodyA\n    const bodyB = this.bodyB\n\n    const form = manager.allocTransform()\n    manager.setIdentity(form)\n    manager.setOriginFromArray3(form, params.position)\n    manager.setBasisFromArray3(form, params.rotation)\n\n    const formA = manager.allocTransform()\n    const formB = manager.allocTransform()\n\n    bodyA.body.getMotionState().getWorldTransform(formA)\n    bodyB.body.getMotionState().getWorldTransform(formB)\n\n    const formInverseA = manager.inverseTransform(formA)\n    const formInverseB = manager.inverseTransform(formB)\n\n    const formA2 = manager.multiplyTransforms(formInverseA, form)\n    const formB2 = manager.multiplyTransforms(formInverseB, form)\n\n    const constraint = new Ammo.btGeneric6DofSpringConstraint(bodyA.body, bodyB.body, formA2, formB2, true)\n\n    const lll = manager.allocVector3()\n    const lul = manager.allocVector3()\n    const all = manager.allocVector3()\n    const aul = manager.allocVector3()\n\n    lll.setValue(params.translationLimitation1[0], params.translationLimitation1[1], params.translationLimitation1[2])\n    lul.setValue(params.translationLimitation2[0], params.translationLimitation2[1], params.translationLimitation2[2])\n    all.setValue(params.rotationLimitation1[0], params.rotationLimitation1[1], params.rotationLimitation1[2])\n    aul.setValue(params.rotationLimitation2[0], params.rotationLimitation2[1], params.rotationLimitation2[2])\n\n    constraint.setLinearLowerLimit(lll)\n    constraint.setLinearUpperLimit(lul)\n    constraint.setAngularLowerLimit(all)\n    constraint.setAngularUpperLimit(aul)\n\n    for (let i = 0; i < 3; i++) {\n      if (params.springPosition[i] !== 0) {\n        constraint.enableSpring(i, true)\n        constraint.setStiffness(i, params.springPosition[i])\n      }\n    }\n\n    for (let i = 0; i < 3; i++) {\n      if (params.springRotation[i] !== 0) {\n        constraint.enableSpring(i + 3, true)\n        constraint.setStiffness(i + 3, params.springRotation[i])\n      }\n    }\n\n    /*\n     * Currently(10/31/2016) official ammo.js doesn't support\n     * btGeneric6DofSpringConstraint.setParam method.\n     * You need custom ammo.js (add the method into idl) if you wanna use.\n     * By setting this parameter, physics will be more like MMD's\n     */\n    if (constraint.setParam !== undefined) {\n      for (let i = 0; i < 6; i++) {\n        constraint.setParam(2, 0.475, i)\n      }\n    }\n\n    this.world.addConstraint(constraint, true)\n    this.constraint = constraint\n\n    manager.freeTransform(form)\n    manager.freeTransform(formA)\n    manager.freeTransform(formB)\n    manager.freeTransform(formInverseA)\n    manager.freeTransform(formInverseB)\n    manager.freeTransform(formA2)\n    manager.freeTransform(formB2)\n    manager.freeVector3(lll)\n    manager.freeVector3(lul)\n    manager.freeVector3(all)\n    manager.freeVector3(aul)\n  }\n}\n\nconst _position = new Vector3()\nconst _quaternion = new Quaternion()\nconst _scale = new Vector3()\nconst _matrixWorldInv = new Matrix4()\n\nclass MMDPhysicsHelper extends Object3D {\n  /**\n   * Visualize Rigid bodies\n   *\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Physics} physics\n   */\n  constructor(mesh, physics) {\n    super()\n\n    this.root = mesh\n    this.physics = physics\n\n    this.matrix.copy(mesh.matrixWorld)\n    this.matrixAutoUpdate = false\n\n    this.materials = []\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0xff8888),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0x88ff88),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0x8888ff),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this._init()\n  }\n\n  /**\n   * Frees the GPU-related resources allocated by this instance. Call this method whenever this instance is no longer used in your app.\n   */\n  dispose() {\n    const materials = this.materials\n    const children = this.children\n\n    for (let i = 0; i < materials.length; i++) {\n      materials[i].dispose()\n    }\n\n    for (let i = 0; i < children.length; i++) {\n      const child = children[i]\n\n      if (child.isMesh) child.geometry.dispose()\n    }\n  }\n\n  /**\n   * Updates Rigid Bodies visualization.\n   */\n  updateMatrixWorld(force) {\n    var mesh = this.root\n\n    if (this.visible) {\n      var bodies = this.physics.bodies\n\n      _matrixWorldInv\n        .copy(mesh.matrixWorld)\n        .decompose(_position, _quaternion, _scale)\n        .compose(_position, _quaternion, _scale.set(1, 1, 1))\n        .invert()\n\n      for (var i = 0, il = bodies.length; i < il; i++) {\n        var body = bodies[i].body\n        var child = this.children[i]\n\n        var tr = body.getCenterOfMassTransform()\n        var origin = tr.getOrigin()\n        var rotation = tr.getRotation()\n\n        child.position.set(origin.x(), origin.y(), origin.z()).applyMatrix4(_matrixWorldInv)\n\n        child.quaternion\n          .setFromRotationMatrix(_matrixWorldInv)\n          .multiply(_quaternion.set(rotation.x(), rotation.y(), rotation.z(), rotation.w()))\n      }\n    }\n\n    this.matrix\n      .copy(mesh.matrixWorld)\n      .decompose(_position, _quaternion, _scale)\n      .compose(_position, _quaternion, _scale.set(1, 1, 1))\n\n    super.updateMatrixWorld(force)\n  }\n\n  // private method\n\n  _init() {\n    var bodies = this.physics.bodies\n\n    function createGeometry(param) {\n      switch (param.shapeType) {\n        case 0:\n          return new SphereGeometry(param.width, 16, 8)\n\n        case 1:\n          return new BoxGeometry(param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8)\n\n        case 2:\n          return new CapsuleGeometry(param.width, param.height, 8, 16)\n\n        default:\n          return null\n      }\n    }\n\n    for (var i = 0, il = bodies.length; i < il; i++) {\n      var param = bodies[i].params\n      this.add(new Mesh(createGeometry(param), this.materials[param.type]))\n    }\n  }\n}\n\nexport { MMDPhysics 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+{"version":3,"file":"MMDPhysics.js","sources":["../../src/animation/MMDPhysics.js"],"sourcesContent":["import {\n  Bone,\n  BoxGeometry,\n  Color,\n  Euler,\n  Matrix4,\n  Mesh,\n  MeshBasicMaterial,\n  Object3D,\n  Quaternion,\n  SphereGeometry,\n  Vector3,\n} from 'three'\nimport { CapsuleGeometry } from '../_polyfill/CapsuleGeometry'\n\n/**\n * Dependencies\n *  - Ammo.js https://github.com/kripken/ammo.js\n *\n * MMDPhysics calculates physics with Ammo(Bullet based JavaScript Physics engine)\n * for MMD model loaded by MMDLoader.\n *\n * TODO\n *  - Physics in Worker\n */\n\n/* global Ammo */\n\nclass MMDPhysics {\n  /**\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Array<Object>} rigidBodyParams\n   * @param {Array<Object>} (optional) constraintParams\n   * @param {Object} params - (optional)\n   * @param {Number} params.unitStep - Default is 1 / 65.\n   * @param {Integer} params.maxStepNum - Default is 3.\n   * @param {Vector3} params.gravity - Default is ( 0, - 9.8 * 10, 0 )\n   */\n  constructor(mesh, rigidBodyParams, constraintParams = [], params = {}) {\n    if (typeof Ammo === 'undefined') {\n      throw new Error('THREE.MMDPhysics: Import ammo.js https://github.com/kripken/ammo.js')\n    }\n\n    this.manager = new ResourceManager()\n\n    this.mesh = mesh\n\n    /*\n     * I don't know why but 1/60 unitStep easily breaks models\n     * so I set it 1/65 so far.\n     * Don't set too small unitStep because\n     * the smaller unitStep can make the performance worse.\n     */\n    this.unitStep = params.unitStep !== undefined ? params.unitStep : 1 / 65\n    this.maxStepNum = params.maxStepNum !== undefined ? params.maxStepNum : 3\n    this.gravity = new Vector3(0, -9.8 * 10, 0)\n\n    if (params.gravity !== undefined) this.gravity.copy(params.gravity)\n\n    this.world = params.world !== undefined ? params.world : null // experimental\n\n    this.bodies = []\n    this.constraints = []\n\n    this._init(mesh, rigidBodyParams, constraintParams)\n  }\n\n  /**\n   * Advances Physics calculation and updates bones.\n   *\n   * @param {Number} delta - time in second\n   * @return {MMDPhysics}\n   */\n  update(delta) {\n    const manager = this.manager\n    const mesh = this.mesh\n\n    // rigid bodies and constrains are for\n    // mesh's world scale (1, 1, 1).\n    // Convert to (1, 1, 1) if it isn't.\n\n    let isNonDefaultScale = false\n\n    const position = manager.allocThreeVector3()\n    const quaternion = manager.allocThreeQuaternion()\n    const scale = manager.allocThreeVector3()\n\n    mesh.matrixWorld.decompose(position, quaternion, scale)\n\n    if (scale.x !== 1 || scale.y !== 1 || scale.z !== 1) {\n      isNonDefaultScale = true\n    }\n\n    let parent\n\n    if (isNonDefaultScale) {\n      parent = mesh.parent\n\n      if (parent !== null) mesh.parent = null\n\n      scale.copy(this.mesh.scale)\n\n      mesh.scale.set(1, 1, 1)\n      mesh.updateMatrixWorld(true)\n    }\n\n    // calculate physics and update bones\n\n    this._updateRigidBodies()\n    this._stepSimulation(delta)\n    this._updateBones()\n\n    // restore mesh if converted above\n\n    if (isNonDefaultScale) {\n      if (parent !== null) mesh.parent = parent\n\n      mesh.scale.copy(scale)\n    }\n\n    manager.freeThreeVector3(scale)\n    manager.freeThreeQuaternion(quaternion)\n    manager.freeThreeVector3(position)\n\n    return this\n  }\n\n  /**\n   * Resets rigid bodies transorm to current bone's.\n   *\n   * @return {MMDPhysics}\n   */\n  reset() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].reset()\n    }\n\n    return this\n  }\n\n  /**\n   * Warm ups Rigid bodies. Calculates cycles steps.\n   *\n   * @param {Integer} cycles\n   * @return {MMDPhysics}\n   */\n  warmup(cycles) {\n    for (let i = 0; i < cycles; i++) {\n      this.update(1 / 60)\n    }\n\n    return this\n  }\n\n  /**\n   * Sets gravity.\n   *\n   * @param {Vector3} gravity\n   * @return {MMDPhysicsHelper}\n   */\n  setGravity(gravity) {\n    this.world.setGravity(new Ammo.btVector3(gravity.x, gravity.y, gravity.z))\n    this.gravity.copy(gravity)\n\n    return this\n  }\n\n  /**\n   * Creates MMDPhysicsHelper\n   *\n   * @return {MMDPhysicsHelper}\n   */\n  createHelper() {\n    return new MMDPhysicsHelper(this.mesh, this)\n  }\n\n  // private methods\n\n  _init(mesh, rigidBodyParams, constraintParams) {\n    const manager = this.manager\n\n    // rigid body/constraint parameters are for\n    // mesh's default world transform as position(0, 0, 0),\n    // quaternion(0, 0, 0, 1) and scale(0, 0, 0)\n\n    const parent = mesh.parent\n\n    if (parent !== null) mesh.parent = null\n\n    const currentPosition = manager.allocThreeVector3()\n    const currentQuaternion = manager.allocThreeQuaternion()\n    const currentScale = manager.allocThreeVector3()\n\n    currentPosition.copy(mesh.position)\n    currentQuaternion.copy(mesh.quaternion)\n    currentScale.copy(mesh.scale)\n\n    mesh.position.set(0, 0, 0)\n    mesh.quaternion.set(0, 0, 0, 1)\n    mesh.scale.set(1, 1, 1)\n\n    mesh.updateMatrixWorld(true)\n\n    if (this.world === null) {\n      this.world = this._createWorld()\n      this.setGravity(this.gravity)\n    }\n\n    this._initRigidBodies(rigidBodyParams)\n    this._initConstraints(constraintParams)\n\n    if (parent !== null) mesh.parent = parent\n\n    mesh.position.copy(currentPosition)\n    mesh.quaternion.copy(currentQuaternion)\n    mesh.scale.copy(currentScale)\n\n    mesh.updateMatrixWorld(true)\n\n    this.reset()\n\n    manager.freeThreeVector3(currentPosition)\n    manager.freeThreeQuaternion(currentQuaternion)\n    manager.freeThreeVector3(currentScale)\n  }\n\n  _createWorld() {\n    const config = new Ammo.btDefaultCollisionConfiguration()\n    const dispatcher = new Ammo.btCollisionDispatcher(config)\n    const cache = new Ammo.btDbvtBroadphase()\n    const solver = new Ammo.btSequentialImpulseConstraintSolver()\n    const world = new Ammo.btDiscreteDynamicsWorld(dispatcher, cache, solver, config)\n    return world\n  }\n\n  _initRigidBodies(rigidBodies) {\n    for (let i = 0, il = rigidBodies.length; i < il; i++) {\n      this.bodies.push(new RigidBody(this.mesh, this.world, rigidBodies[i], this.manager))\n    }\n  }\n\n  _initConstraints(constraints) {\n    for (let i = 0, il = constraints.length; i < il; i++) {\n      const params = constraints[i]\n      const bodyA = this.bodies[params.rigidBodyIndex1]\n      const bodyB = this.bodies[params.rigidBodyIndex2]\n      this.constraints.push(new Constraint(this.mesh, this.world, bodyA, bodyB, params, this.manager))\n    }\n  }\n\n  _stepSimulation(delta) {\n    const unitStep = this.unitStep\n    let stepTime = delta\n    let maxStepNum = ((delta / unitStep) | 0) + 1\n\n    if (stepTime < unitStep) {\n      stepTime = unitStep\n      maxStepNum = 1\n    }\n\n    if (maxStepNum > this.maxStepNum) {\n      maxStepNum = this.maxStepNum\n    }\n\n    this.world.stepSimulation(stepTime, maxStepNum, unitStep)\n  }\n\n  _updateRigidBodies() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].updateFromBone()\n    }\n  }\n\n  _updateBones() {\n    for (let i = 0, il = this.bodies.length; i < il; i++) {\n      this.bodies[i].updateBone()\n    }\n  }\n}\n\n/**\n * This manager's responsibilies are\n *\n * 1. manage Ammo.js and Three.js object resources and\n *    improve the performance and the memory consumption by\n *    reusing objects.\n *\n * 2. provide simple Ammo object operations.\n */\nclass ResourceManager {\n  constructor() {\n    // for Three.js\n    this.threeVector3s = []\n    this.threeMatrix4s = []\n    this.threeQuaternions = []\n    this.threeEulers = []\n\n    // for Ammo.js\n    this.transforms = []\n    this.quaternions = []\n    this.vector3s = []\n  }\n\n  allocThreeVector3() {\n    return this.threeVector3s.length > 0 ? this.threeVector3s.pop() : new Vector3()\n  }\n\n  freeThreeVector3(v) {\n    this.threeVector3s.push(v)\n  }\n\n  allocThreeMatrix4() {\n    return this.threeMatrix4s.length > 0 ? this.threeMatrix4s.pop() : new Matrix4()\n  }\n\n  freeThreeMatrix4(m) {\n    this.threeMatrix4s.push(m)\n  }\n\n  allocThreeQuaternion() {\n    return this.threeQuaternions.length > 0 ? this.threeQuaternions.pop() : new Quaternion()\n  }\n\n  freeThreeQuaternion(q) {\n    this.threeQuaternions.push(q)\n  }\n\n  allocThreeEuler() {\n    return this.threeEulers.length > 0 ? this.threeEulers.pop() : new Euler()\n  }\n\n  freeThreeEuler(e) {\n    this.threeEulers.push(e)\n  }\n\n  allocTransform() {\n    return this.transforms.length > 0 ? this.transforms.pop() : new Ammo.btTransform()\n  }\n\n  freeTransform(t) {\n    this.transforms.push(t)\n  }\n\n  allocQuaternion() {\n    return this.quaternions.length > 0 ? this.quaternions.pop() : new Ammo.btQuaternion()\n  }\n\n  freeQuaternion(q) {\n    this.quaternions.push(q)\n  }\n\n  allocVector3() {\n    return this.vector3s.length > 0 ? this.vector3s.pop() : new Ammo.btVector3()\n  }\n\n  freeVector3(v) {\n    this.vector3s.push(v)\n  }\n\n  setIdentity(t) {\n    t.setIdentity()\n  }\n\n  getBasis(t) {\n    var q = this.allocQuaternion()\n    t.getBasis().getRotation(q)\n    return q\n  }\n\n  getBasisAsMatrix3(t) {\n    var q = this.getBasis(t)\n    var m = this.quaternionToMatrix3(q)\n    this.freeQuaternion(q)\n    return m\n  }\n\n  getOrigin(t) {\n    return t.getOrigin()\n  }\n\n  setOrigin(t, v) {\n    t.getOrigin().setValue(v.x(), v.y(), v.z())\n  }\n\n  copyOrigin(t1, t2) {\n    var o = t2.getOrigin()\n    this.setOrigin(t1, o)\n  }\n\n  setBasis(t, q) {\n    t.setRotation(q)\n  }\n\n  setBasisFromMatrix3(t, m) {\n    var q = this.matrix3ToQuaternion(m)\n    this.setBasis(t, q)\n    this.freeQuaternion(q)\n  }\n\n  setOriginFromArray3(t, a) {\n    t.getOrigin().setValue(a[0], a[1], a[2])\n  }\n\n  setOriginFromThreeVector3(t, v) {\n    t.getOrigin().setValue(v.x, v.y, v.z)\n  }\n\n  setBasisFromArray3(t, a) {\n    var thQ = this.allocThreeQuaternion()\n    var thE = this.allocThreeEuler()\n    thE.set(a[0], a[1], a[2])\n    this.setBasisFromThreeQuaternion(t, thQ.setFromEuler(thE))\n\n    this.freeThreeEuler(thE)\n    this.freeThreeQuaternion(thQ)\n  }\n\n  setBasisFromThreeQuaternion(t, a) {\n    var q = this.allocQuaternion()\n\n    q.setX(a.x)\n    q.setY(a.y)\n    q.setZ(a.z)\n    q.setW(a.w)\n    this.setBasis(t, q)\n\n    this.freeQuaternion(q)\n  }\n\n  multiplyTransforms(t1, t2) {\n    var t = this.allocTransform()\n    this.setIdentity(t)\n\n    var m1 = this.getBasisAsMatrix3(t1)\n    var m2 = this.getBasisAsMatrix3(t2)\n\n    var o1 = this.getOrigin(t1)\n    var o2 = this.getOrigin(t2)\n\n    var v1 = this.multiplyMatrix3ByVector3(m1, o2)\n    var v2 = this.addVector3(v1, o1)\n    this.setOrigin(t, v2)\n\n    var m3 = this.multiplyMatrices3(m1, m2)\n    this.setBasisFromMatrix3(t, m3)\n\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return t\n  }\n\n  inverseTransform(t) {\n    var t2 = this.allocTransform()\n\n    var m1 = this.getBasisAsMatrix3(t)\n    var o = this.getOrigin(t)\n\n    var m2 = this.transposeMatrix3(m1)\n    var v1 = this.negativeVector3(o)\n    var v2 = this.multiplyMatrix3ByVector3(m2, v1)\n\n    this.setOrigin(t2, v2)\n    this.setBasisFromMatrix3(t2, m2)\n\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return t2\n  }\n\n  multiplyMatrices3(m1, m2) {\n    var m3 = []\n\n    var v10 = this.rowOfMatrix3(m1, 0)\n    var v11 = this.rowOfMatrix3(m1, 1)\n    var v12 = this.rowOfMatrix3(m1, 2)\n\n    var v20 = this.columnOfMatrix3(m2, 0)\n    var v21 = this.columnOfMatrix3(m2, 1)\n    var v22 = this.columnOfMatrix3(m2, 2)\n\n    m3[0] = this.dotVectors3(v10, v20)\n    m3[1] = this.dotVectors3(v10, v21)\n    m3[2] = this.dotVectors3(v10, v22)\n    m3[3] = this.dotVectors3(v11, v20)\n    m3[4] = this.dotVectors3(v11, v21)\n    m3[5] = this.dotVectors3(v11, v22)\n    m3[6] = this.dotVectors3(v12, v20)\n    m3[7] = this.dotVectors3(v12, v21)\n    m3[8] = this.dotVectors3(v12, v22)\n\n    this.freeVector3(v10)\n    this.freeVector3(v11)\n    this.freeVector3(v12)\n    this.freeVector3(v20)\n    this.freeVector3(v21)\n    this.freeVector3(v22)\n\n    return m3\n  }\n\n  addVector3(v1, v2) {\n    var v = this.allocVector3()\n    v.setValue(v1.x() + v2.x(), v1.y() + v2.y(), v1.z() + v2.z())\n    return v\n  }\n\n  dotVectors3(v1, v2) {\n    return v1.x() * v2.x() + v1.y() * v2.y() + v1.z() * v2.z()\n  }\n\n  rowOfMatrix3(m, i) {\n    var v = this.allocVector3()\n    v.setValue(m[i * 3 + 0], m[i * 3 + 1], m[i * 3 + 2])\n    return v\n  }\n\n  columnOfMatrix3(m, i) {\n    var v = this.allocVector3()\n    v.setValue(m[i + 0], m[i + 3], m[i + 6])\n    return v\n  }\n\n  negativeVector3(v) {\n    var v2 = this.allocVector3()\n    v2.setValue(-v.x(), -v.y(), -v.z())\n    return v2\n  }\n\n  multiplyMatrix3ByVector3(m, v) {\n    var v4 = this.allocVector3()\n\n    var v0 = this.rowOfMatrix3(m, 0)\n    var v1 = this.rowOfMatrix3(m, 1)\n    var v2 = this.rowOfMatrix3(m, 2)\n    var x = this.dotVectors3(v0, v)\n    var y = this.dotVectors3(v1, v)\n    var z = this.dotVectors3(v2, v)\n\n    v4.setValue(x, y, z)\n\n    this.freeVector3(v0)\n    this.freeVector3(v1)\n    this.freeVector3(v2)\n\n    return v4\n  }\n\n  transposeMatrix3(m) {\n    var m2 = []\n    m2[0] = m[0]\n    m2[1] = m[3]\n    m2[2] = m[6]\n    m2[3] = m[1]\n    m2[4] = m[4]\n    m2[5] = m[7]\n    m2[6] = m[2]\n    m2[7] = m[5]\n    m2[8] = m[8]\n    return m2\n  }\n\n  quaternionToMatrix3(q) {\n    var m = []\n\n    var x = q.x()\n    var y = q.y()\n    var z = q.z()\n    var w = q.w()\n\n    var xx = x * x\n    var yy = y * y\n    var zz = z * z\n\n    var xy = x * y\n    var yz = y * z\n    var zx = z * x\n\n    var xw = x * w\n    var yw = y * w\n    var zw = z * w\n\n    m[0] = 1 - 2 * (yy + zz)\n    m[1] = 2 * (xy - zw)\n    m[2] = 2 * (zx + yw)\n    m[3] = 2 * (xy + zw)\n    m[4] = 1 - 2 * (zz + xx)\n    m[5] = 2 * (yz - xw)\n    m[6] = 2 * (zx - yw)\n    m[7] = 2 * (yz + xw)\n    m[8] = 1 - 2 * (xx + yy)\n\n    return m\n  }\n\n  matrix3ToQuaternion(m) {\n    var t = m[0] + m[4] + m[8]\n    var s, x, y, z, w\n\n    if (t > 0) {\n      s = Math.sqrt(t + 1.0) * 2\n      w = 0.25 * s\n      x = (m[7] - m[5]) / s\n      y = (m[2] - m[6]) / s\n      z = (m[3] - m[1]) / s\n    } else if (m[0] > m[4] && m[0] > m[8]) {\n      s = Math.sqrt(1.0 + m[0] - m[4] - m[8]) * 2\n      w = (m[7] - m[5]) / s\n      x = 0.25 * s\n      y = (m[1] + m[3]) / s\n      z = (m[2] + m[6]) / s\n    } else if (m[4] > m[8]) {\n      s = Math.sqrt(1.0 + m[4] - m[0] - m[8]) * 2\n      w = (m[2] - m[6]) / s\n      x = (m[1] + m[3]) / s\n      y = 0.25 * s\n      z = (m[5] + m[7]) / s\n    } else {\n      s = Math.sqrt(1.0 + m[8] - m[0] - m[4]) * 2\n      w = (m[3] - m[1]) / s\n      x = (m[2] + m[6]) / s\n      y = (m[5] + m[7]) / s\n      z = 0.25 * s\n    }\n\n    var q = this.allocQuaternion()\n    q.setX(x)\n    q.setY(y)\n    q.setZ(z)\n    q.setW(w)\n    return q\n  }\n}\n\n/**\n * @param {THREE.SkinnedMesh} mesh\n * @param {Ammo.btDiscreteDynamicsWorld} world\n * @param {Object} params\n * @param {ResourceManager} manager\n */\nclass RigidBody {\n  constructor(mesh, world, params, manager) {\n    this.mesh = mesh\n    this.world = world\n    this.params = params\n    this.manager = manager\n\n    this.body = null\n    this.bone = null\n    this.boneOffsetForm = null\n    this.boneOffsetFormInverse = null\n\n    this._init()\n  }\n\n  /**\n   * Resets rigid body transform to the current bone's.\n   *\n   * @return {RigidBody}\n   */\n  reset() {\n    this._setTransformFromBone()\n    return this\n  }\n\n  /**\n   * Updates rigid body's transform from the current bone.\n   *\n   * @return {RidigBody}\n   */\n  updateFromBone() {\n    if (this.params.boneIndex !== -1 && this.params.type === 0) {\n      this._setTransformFromBone()\n    }\n\n    return this\n  }\n\n  /**\n   * Updates bone from the current ridid body's transform.\n   *\n   * @return {RidigBody}\n   */\n  updateBone() {\n    if (this.params.type === 0 || this.params.boneIndex === -1) {\n      return this\n    }\n\n    this._updateBoneRotation()\n\n    if (this.params.type === 1) {\n      this._updateBonePosition()\n    }\n\n    this.bone.updateMatrixWorld(true)\n\n    if (this.params.type === 2) {\n      this._setPositionFromBone()\n    }\n\n    return this\n  }\n\n  // private methods\n\n  _init() {\n    function generateShape(p) {\n      switch (p.shapeType) {\n        case 0:\n          return new Ammo.btSphereShape(p.width)\n\n        case 1:\n          return new Ammo.btBoxShape(new Ammo.btVector3(p.width, p.height, p.depth))\n\n        case 2:\n          return new Ammo.btCapsuleShape(p.width, p.height)\n\n        default:\n          throw new Error('unknown shape type ' + p.shapeType)\n      }\n    }\n\n    const manager = this.manager\n    const params = this.params\n    const bones = this.mesh.skeleton.bones\n    const bone = params.boneIndex === -1 ? new Bone() : bones[params.boneIndex]\n\n    const shape = generateShape(params)\n    const weight = params.type === 0 ? 0 : params.weight\n    const localInertia = manager.allocVector3()\n    localInertia.setValue(0, 0, 0)\n\n    if (weight !== 0) {\n      shape.calculateLocalInertia(weight, localInertia)\n    }\n\n    const boneOffsetForm = manager.allocTransform()\n    manager.setIdentity(boneOffsetForm)\n    manager.setOriginFromArray3(boneOffsetForm, params.position)\n    manager.setBasisFromArray3(boneOffsetForm, params.rotation)\n\n    const vector = manager.allocThreeVector3()\n    const boneForm = manager.allocTransform()\n    manager.setIdentity(boneForm)\n    manager.setOriginFromThreeVector3(boneForm, bone.getWorldPosition(vector))\n\n    const form = manager.multiplyTransforms(boneForm, boneOffsetForm)\n    const state = new Ammo.btDefaultMotionState(form)\n\n    const info = new Ammo.btRigidBodyConstructionInfo(weight, state, shape, localInertia)\n    info.set_m_friction(params.friction)\n    info.set_m_restitution(params.restitution)\n\n    const body = new Ammo.btRigidBody(info)\n\n    if (params.type === 0) {\n      body.setCollisionFlags(body.getCollisionFlags() | 2)\n\n      /*\n       * It'd be better to comment out this line though in general I should call this method\n       * because I'm not sure why but physics will be more like MMD's\n       * if I comment out.\n       */\n      body.setActivationState(4)\n    }\n\n    body.setDamping(params.positionDamping, params.rotationDamping)\n    body.setSleepingThresholds(0, 0)\n\n    this.world.addRigidBody(body, 1 << params.groupIndex, params.groupTarget)\n\n    this.body = body\n    this.bone = bone\n    this.boneOffsetForm = boneOffsetForm\n    this.boneOffsetFormInverse = manager.inverseTransform(boneOffsetForm)\n\n    manager.freeVector3(localInertia)\n    manager.freeTransform(form)\n    manager.freeTransform(boneForm)\n    manager.freeThreeVector3(vector)\n  }\n\n  _getBoneTransform() {\n    const manager = this.manager\n    const p = manager.allocThreeVector3()\n    const q = manager.allocThreeQuaternion()\n    const s = manager.allocThreeVector3()\n\n    this.bone.matrixWorld.decompose(p, q, s)\n\n    const tr = manager.allocTransform()\n    manager.setOriginFromThreeVector3(tr, p)\n    manager.setBasisFromThreeQuaternion(tr, q)\n\n    const form = manager.multiplyTransforms(tr, this.boneOffsetForm)\n\n    manager.freeTransform(tr)\n    manager.freeThreeVector3(s)\n    manager.freeThreeQuaternion(q)\n    manager.freeThreeVector3(p)\n\n    return form\n  }\n\n  _getWorldTransformForBone() {\n    const manager = this.manager\n    const tr = this.body.getCenterOfMassTransform()\n    return manager.multiplyTransforms(tr, this.boneOffsetFormInverse)\n  }\n\n  _setTransformFromBone() {\n    const manager = this.manager\n    const form = this._getBoneTransform()\n\n    // TODO: check the most appropriate way to set\n    //this.body.setWorldTransform( form );\n    this.body.setCenterOfMassTransform(form)\n    this.body.getMotionState().setWorldTransform(form)\n\n    manager.freeTransform(form)\n  }\n\n  _setPositionFromBone() {\n    const manager = this.manager\n    const form = this._getBoneTransform()\n\n    const tr = manager.allocTransform()\n    this.body.getMotionState().getWorldTransform(tr)\n    manager.copyOrigin(tr, form)\n\n    // TODO: check the most appropriate way to set\n    //this.body.setWorldTransform( tr );\n    this.body.setCenterOfMassTransform(tr)\n    this.body.getMotionState().setWorldTransform(tr)\n\n    manager.freeTransform(tr)\n    manager.freeTransform(form)\n  }\n\n  _updateBoneRotation() {\n    const manager = this.manager\n\n    const tr = this._getWorldTransformForBone()\n    const q = manager.getBasis(tr)\n\n    const thQ = manager.allocThreeQuaternion()\n    const thQ2 = manager.allocThreeQuaternion()\n    const thQ3 = manager.allocThreeQuaternion()\n\n    thQ.set(q.x(), q.y(), q.z(), q.w())\n    thQ2.setFromRotationMatrix(this.bone.matrixWorld)\n    thQ2.conjugate()\n    thQ2.multiply(thQ)\n\n    //this.bone.quaternion.multiply( thQ2 );\n\n    thQ3.setFromRotationMatrix(this.bone.matrix)\n\n    // Renormalizing quaternion here because repeatedly transforming\n    // quaternion continuously accumulates floating point error and\n    // can end up being overflow. See #15335\n    this.bone.quaternion.copy(thQ2.multiply(thQ3).normalize())\n\n    manager.freeThreeQuaternion(thQ)\n    manager.freeThreeQuaternion(thQ2)\n    manager.freeThreeQuaternion(thQ3)\n\n    manager.freeQuaternion(q)\n    manager.freeTransform(tr)\n  }\n\n  _updateBonePosition() {\n    const manager = this.manager\n\n    const tr = this._getWorldTransformForBone()\n\n    const thV = manager.allocThreeVector3()\n\n    const o = manager.getOrigin(tr)\n    thV.set(o.x(), o.y(), o.z())\n\n    if (this.bone.parent) {\n      this.bone.parent.worldToLocal(thV)\n    }\n\n    this.bone.position.copy(thV)\n\n    manager.freeThreeVector3(thV)\n\n    manager.freeTransform(tr)\n  }\n}\n\n//\n\nclass Constraint {\n  /**\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Ammo.btDiscreteDynamicsWorld} world\n   * @param {RigidBody} bodyA\n   * @param {RigidBody} bodyB\n   * @param {Object} params\n   * @param {ResourceManager} manager\n   */\n  constructor(mesh, world, bodyA, bodyB, params, manager) {\n    this.mesh = mesh\n    this.world = world\n    this.bodyA = bodyA\n    this.bodyB = bodyB\n    this.params = params\n    this.manager = manager\n\n    this.constraint = null\n\n    this._init()\n  }\n\n  // private method\n\n  _init() {\n    const manager = this.manager\n    const params = this.params\n    const bodyA = this.bodyA\n    const bodyB = this.bodyB\n\n    const form = manager.allocTransform()\n    manager.setIdentity(form)\n    manager.setOriginFromArray3(form, params.position)\n    manager.setBasisFromArray3(form, params.rotation)\n\n    const formA = manager.allocTransform()\n    const formB = manager.allocTransform()\n\n    bodyA.body.getMotionState().getWorldTransform(formA)\n    bodyB.body.getMotionState().getWorldTransform(formB)\n\n    const formInverseA = manager.inverseTransform(formA)\n    const formInverseB = manager.inverseTransform(formB)\n\n    const formA2 = manager.multiplyTransforms(formInverseA, form)\n    const formB2 = manager.multiplyTransforms(formInverseB, form)\n\n    const constraint = new Ammo.btGeneric6DofSpringConstraint(bodyA.body, bodyB.body, formA2, formB2, true)\n\n    const lll = manager.allocVector3()\n    const lul = manager.allocVector3()\n    const all = manager.allocVector3()\n    const aul = manager.allocVector3()\n\n    lll.setValue(params.translationLimitation1[0], params.translationLimitation1[1], params.translationLimitation1[2])\n    lul.setValue(params.translationLimitation2[0], params.translationLimitation2[1], params.translationLimitation2[2])\n    all.setValue(params.rotationLimitation1[0], params.rotationLimitation1[1], params.rotationLimitation1[2])\n    aul.setValue(params.rotationLimitation2[0], params.rotationLimitation2[1], params.rotationLimitation2[2])\n\n    constraint.setLinearLowerLimit(lll)\n    constraint.setLinearUpperLimit(lul)\n    constraint.setAngularLowerLimit(all)\n    constraint.setAngularUpperLimit(aul)\n\n    for (let i = 0; i < 3; i++) {\n      if (params.springPosition[i] !== 0) {\n        constraint.enableSpring(i, true)\n        constraint.setStiffness(i, params.springPosition[i])\n      }\n    }\n\n    for (let i = 0; i < 3; i++) {\n      if (params.springRotation[i] !== 0) {\n        constraint.enableSpring(i + 3, true)\n        constraint.setStiffness(i + 3, params.springRotation[i])\n      }\n    }\n\n    /*\n     * Currently(10/31/2016) official ammo.js doesn't support\n     * btGeneric6DofSpringConstraint.setParam method.\n     * You need custom ammo.js (add the method into idl) if you wanna use.\n     * By setting this parameter, physics will be more like MMD's\n     */\n    if (constraint.setParam !== undefined) {\n      for (let i = 0; i < 6; i++) {\n        constraint.setParam(2, 0.475, i)\n      }\n    }\n\n    this.world.addConstraint(constraint, true)\n    this.constraint = constraint\n\n    manager.freeTransform(form)\n    manager.freeTransform(formA)\n    manager.freeTransform(formB)\n    manager.freeTransform(formInverseA)\n    manager.freeTransform(formInverseB)\n    manager.freeTransform(formA2)\n    manager.freeTransform(formB2)\n    manager.freeVector3(lll)\n    manager.freeVector3(lul)\n    manager.freeVector3(all)\n    manager.freeVector3(aul)\n  }\n}\n\nconst _position = /* @__PURE__ */ new Vector3()\nconst _quaternion = /* @__PURE__ */ new Quaternion()\nconst _scale = /* @__PURE__ */ new Vector3()\nconst _matrixWorldInv = /* @__PURE__ */ new Matrix4()\n\nclass MMDPhysicsHelper extends Object3D {\n  /**\n   * Visualize Rigid bodies\n   *\n   * @param {THREE.SkinnedMesh} mesh\n   * @param {Physics} physics\n   */\n  constructor(mesh, physics) {\n    super()\n\n    this.root = mesh\n    this.physics = physics\n\n    this.matrix.copy(mesh.matrixWorld)\n    this.matrixAutoUpdate = false\n\n    this.materials = []\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0xff8888),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0x88ff88),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this.materials.push(\n      new MeshBasicMaterial({\n        color: new Color(0x8888ff),\n        wireframe: true,\n        depthTest: false,\n        depthWrite: false,\n        opacity: 0.25,\n        transparent: true,\n      }),\n    )\n\n    this._init()\n  }\n\n  /**\n   * Frees the GPU-related resources allocated by this instance. Call this method whenever this instance is no longer used in your app.\n   */\n  dispose() {\n    const materials = this.materials\n    const children = this.children\n\n    for (let i = 0; i < materials.length; i++) {\n      materials[i].dispose()\n    }\n\n    for (let i = 0; i < children.length; i++) {\n      const child = children[i]\n\n      if (child.isMesh) child.geometry.dispose()\n    }\n  }\n\n  /**\n   * Updates Rigid Bodies visualization.\n   */\n  updateMatrixWorld(force) {\n    var mesh = this.root\n\n    if (this.visible) {\n      var bodies = this.physics.bodies\n\n      _matrixWorldInv\n        .copy(mesh.matrixWorld)\n        .decompose(_position, _quaternion, _scale)\n        .compose(_position, _quaternion, _scale.set(1, 1, 1))\n        .invert()\n\n      for (var i = 0, il = bodies.length; i < il; i++) {\n        var body = bodies[i].body\n        var child = this.children[i]\n\n        var tr = body.getCenterOfMassTransform()\n        var origin = tr.getOrigin()\n        var rotation = tr.getRotation()\n\n        child.position.set(origin.x(), origin.y(), origin.z()).applyMatrix4(_matrixWorldInv)\n\n        child.quaternion\n          .setFromRotationMatrix(_matrixWorldInv)\n          .multiply(_quaternion.set(rotation.x(), rotation.y(), rotation.z(), rotation.w()))\n      }\n    }\n\n    this.matrix\n      .copy(mesh.matrixWorld)\n      .decompose(_position, _quaternion, _scale)\n      .compose(_position, _quaternion, _scale.set(1, 1, 1))\n\n    super.updateMatrixWorld(force)\n  }\n\n  // private method\n\n  _init() {\n    var bodies = this.physics.bodies\n\n    function createGeometry(param) {\n      switch (param.shapeType) {\n        case 0:\n          return new SphereGeometry(param.width, 16, 8)\n\n        case 1:\n          return new BoxGeometry(param.width * 2, param.height * 2, param.depth * 2, 8, 8, 8)\n\n        case 2:\n          return new CapsuleGeometry(param.width, param.height, 8, 16)\n\n        default:\n          return null\n      }\n    }\n\n    for (var i = 0, il = bodies.length; i < il; i++) {\n      var param = bodies[i].params\n      this.add(new Mesh(createGeometry(param), this.materials[param.type]))\n    }\n  }\n}\n\nexport { MMDPhysics 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package/controls/ArcballControls.cjs

@@ -33,8 +33,8 @@ const _center = {
   y: 0
 };
 const _transformation = {
-  camera: new THREE.Matrix4(),
-  gizmos: new THREE.Matrix4()
+  camera: /* @__PURE__ */ new THREE.Matrix4(),
+  gizmos: /* @__PURE__ */ new THREE.Matrix4()
 };
 const _changeEvent = { type: "change" };
 const _startEvent = { type: "start" };